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Progress stopped at f1350 when goal predicate was achieved; regression occurred during gripper withdrawal." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4567288276eafafc1bfaf1a9d798793a242fab20 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/events.jsonl @@ -0,0 +1,520 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2385, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4955674427016677, -0.4948946319958965, 0.03536622510644728], [0.42351276348539657, 0.4374869948765769, 0.41092457253911535]]} +{"step": 2403, "event": "joint_tracking", "max_error_rad": 0.007650703191757202} +{"step": 2403, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.976330757141113, 5.85807466506958, 0.47050711512565613], "desired_xyz": [4.974999189376831, 5.858142021179199, 0.47074587464332557], "error_m": 0.001354479849852437} +{"step": 2433, "event": "catch_alignment", "horizontal_error_m": 0.03165692916827426, "clearance_m": 0.07985341548919678, "speed_m_s": 0.014545402637851892, "footprint": {"fits": true, "max_normalized_radius": 0.7596574529274343, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 60, "hypothetical_centering": false}} +{"step": 2433, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_113", "right": "trash_can_116"}, "eef_world": {"left": [[4.883646011352539, 5.852691173553467, 0.6454579830169678], [-0.590909481048584, 0.8066808581352234, -0.008372445590794086, 0.004698414355516434]], "right": [[4.977334022521973, 5.858129501342773, 0.47033894062042236], [-0.7887864708900452, 0.6105051040649414, 0.009357105009257793, -0.07079467177391052]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.911529541015625, 5.822127342224121, 0.30906856060028076], "can__of__soda.n.01_2": [4.8321003913879395, 5.835740089416504, 0.32200413942337036], "can__of__soda.n.01_3": [4.873493671417236, 5.855894088745117, 0.6179303526878357], "ashcan.n.01_1": [4.875035285949707, 5.822842597961426, 0.36846375465393066]}, "robot_pose": [[4.630627155303955, 5.1677350997924805, 0.005285203456878662], [-5.2424147725105286e-05, 6.214960012584925e-05, 0.5779427886009216, 0.8160773515701294]]}} +{"step": 2498, "event": "catch_verified", "object": "can_of_soda_113"} +{"step": 2498, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.883646011352539, 5.852717399597168, 0.6453834772109985], [-0.5909115076065063, 0.8066794276237488, -0.008388008922338486, 0.004645367152988911]], "right": [[4.97990608215332, 5.858254909515381, 0.46991991996765137], [-0.7926843762397766, 0.6059479713439941, 0.0051832618191838264, -0.06672121584415436]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.916589260101318, 5.821637153625488, 0.30798041820526123], "can__of__soda.n.01_2": [4.8367109298706055, 5.834492206573486, 0.3195933699607849], "can__of__soda.n.01_3": [4.882177829742432, 5.880282878875732, 0.42765313386917114], "ashcan.n.01_1": [4.8791351318359375, 5.821890830993652, 0.36686354875564575]}, "robot_pose": [[4.630627155303955, 5.1677350997924805, 0.005285173654556274], [-5.229562520980835e-05, 6.235075852600858e-05, 0.5779428482055664, 0.8160772919654846]]}} +{"step": 2498, "event": "eef_target", "arm": "left", "body_xyz": [0.7300276731633515, 0.03247361681661834, 0.6402165826458959], "world_xyz": [4.842364543195751, 5.867245211709567, 0.6453828958523027], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2498, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2498, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.495572885629645, -0.49490356850950135, 0.035366182344113595], [0.4235267640465405, 0.43749338848296465, 0.4109245926450595]]} +{"step": 2517, "event": "joint_tracking", "max_error_rad": 0.00843772292137146} +{"step": 2517, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.842382907867432, 5.867258548736572, 0.6453455090522766], "desired_xyz": [4.842364543195751, 5.867245211709567, 0.6453828958523027], "error_m": 4.3736829691435154e-05} +{"step": 2517, "event": "eef_target", "arm": "left", "body_xyz": [0.7300235930652161, 0.07623105781996092, 0.6402170706193315], "world_xyz": [4.801083075038963, 5.881773023821966, 0.6453823144936071], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2517, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2517, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4955729863550906, -0.4949030944660339, 0.03536552517130017], [0.4235264735061363, 0.4374932237047531, 0.41092508859814864]]} +{"step": 2536, "event": "joint_tracking", "max_error_rad": 0.008368641138076782} +{"step": 2536, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.801100254058838, 5.881784915924072, 0.6453492045402527], "desired_xyz": [4.801083075038963, 5.881773023821966, 0.6453823144936071], "error_m": 3.915111527799886e-05} +{"step": 2536, "event": "eef_target", "arm": "left", "body_xyz": [0.7300188168162729, 0.11998516995679485, 0.6402165197989131], "world_xyz": [4.759801606882175, 5.8963008359343645, 0.6453817331349109], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2536, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2536, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.49557221698696186, -0.49490239348360354, 0.03536650147997699], [0.42352523705418105, 0.43749301979104405, 0.41092438612630217]]} +{"step": 2555, "event": "joint_tracking", "max_error_rad": 0.008249223232269287} +{"step": 2555, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.759823799133301, 5.896306991577148, 0.6453500390052795], "desired_xyz": [4.759801606882175, 5.8963008359343645, 0.6453817331349109], "error_m": 3.917787387282824e-05} +{"step": 2555, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 1904, "end": 2555} +{"step": 2555, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.759823799133301, 5.896306991577148, 0.6453500390052795], [-0.5909721255302429, 0.8066365718841553, -0.00830031931400299, 0.00452793762087822]], "right": [[4.9837212562561035, 5.858489990234375, 0.4693530797958374], [-0.7983811497688293, 0.5990830063819885, -0.0010748737258836627, -0.06071239709854126]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.9240217208862305, 5.821077346801758, 0.30638882517814636], "can__of__soda.n.01_2": [4.843622207641602, 5.832675457000732, 0.31640732288360596], "can__of__soda.n.01_3": [4.883371829986572, 5.878124237060547, 0.4251329004764557], "ashcan.n.01_1": [4.885350227355957, 5.820566654205322, 0.3645620048046112]}, "robot_pose": [[4.630619049072266, 5.167749881744385, 0.005285382270812988], [-5.238968878984451e-05, 6.210304127307609e-05, 0.5779454112052917, 0.8160754442214966]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..05250825bb50a2b173adc954234a499a5eb860e8 --- /dev/null +++ b/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2439 [00:00), 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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..fdbde690fba77cf5217bb2f426e1febc2af3f6d6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85628b6f2a1841e4543599955f932dc5a1e0a7af21666fd46f768d078480630a +size 2567 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/torso_geometry_audit.json 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"robot_pose": [[4.589012145996094, 5.583240509033203, 0.005285367369651794], [7.849372923374176e-05, 2.0424095055204816e-05, -0.9852970242500305, 0.17085061967372894]]}} +{"step": 1390, "event": "eef_target", "arm": "left", "body_xyz": [0.6335682464934855, 0.015138337254811896, 0.6609903740823796], "world_xyz": [3.9974306359764644, 5.355633659131664, 0.6661731080110017], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1390, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1390, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4966162426753357, -0.4389068728515524, 0.03536107792330545], [0.427426919887574, 0.49714056017295527, 0.41093176573960744]]} +{"step": 1406, "event": "joint_tracking", "max_error_rad": 0.005972385406494141} +{"step": 1406, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.9974145889282227, 5.355645656585693, 0.6661449074745178], "desired_xyz": [3.9974306359764644, 5.355633659131664, 0.6661731080110017], "error_m": 3.459359649471616e-05} +{"step": 1406, "event": "eef_target", "arm": "left", "body_xyz": [0.6335673230084465, 0.050090317552582725, 0.6609904514998065], "world_xyz": [4.00919881162578, 5.322720374598777, 0.6661726387133483], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1406, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1406, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.49661645549675404, -0.4389071166789772, 0.035361034539714245], [0.42742732127886696, 0.49714123892541656, 0.41093186749241545]]} +{"step": 1422, "event": "joint_tracking", "max_error_rad": 0.005960240960121155} +{"step": 1422, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.009177207946777, 5.322729110717773, 0.6661463975906372], "desired_xyz": [4.00919881162578, 5.322720374598777, 0.6661726387133483], "error_m": 3.5094661171212004e-05} +{"step": 1422, "event": "eef_target", "arm": "left", "body_xyz": [0.6335611131304778, 0.08504436240250812, 0.6609903414930584], "world_xyz": [4.020966987275097, 5.2898070900658904, 0.6661721694156949], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1422, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1422, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4966164880991046, -0.4389068209159527, 0.03536100678946911], [0.4274271579563001, 0.49714081543254174, 0.41093170251484956]]} +{"step": 1438, "event": "joint_tracking", "max_error_rad": 0.005937829613685608} +{"step": 1438, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.020951271057129, 5.28981876373291, 0.6661484837532043], "desired_xyz": [4.020966987275097, 5.2898070900658904, 0.6661721694156949], "error_m": 3.072921438173785e-05} +{"step": 1438, "event": "eef_target", "arm": "left", "body_xyz": [0.6335593906934687, 0.11999796896891865, 0.6609907363170444], "world_xyz": [4.032735162924412, 5.256893805533004, 0.6661717001180409], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1438, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1438, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4966162627055207, -0.4389069610553463, 0.03536073720409942], [0.427427208213425, 0.49714071012404437, 0.41093197127698383]]} +{"step": 1454, "event": "joint_tracking", "max_error_rad": 0.00583098828792572} +{"step": 1454, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.032718658447266, 5.256905555725098, 0.6661501526832581], "desired_xyz": [4.032735162924412, 5.256893805533004, 0.6661717001180409], "error_m": 2.95762865460751e-05} +{"step": 1454, "event": "primitive_verified", "operation": "deposit:can_of_soda_114", "start": 782, "end": 1454} +{"step": 1454, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.032718658447266, 5.256905555725098, 0.6661501526832581], [0.9826886653900146, 0.18506228923797607, -0.0007832243572920561, -0.008618866093456745]], "right": [[3.958592414855957, 5.478834629058838, 0.48209187388420105], [0.9575803875923157, 0.27952492237091064, 0.04685463756322861, 0.052060868591070175]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.026808261871338, 5.391849994659424, 0.28329747915267944], "can__of__soda.n.01_3": [4.063043117523193, 5.418118000030518, 0.3790474534034729], "can__of__soda.n.01_2": [3.9774155616760254, 5.36851167678833, 0.38380658626556396], "ashcan.n.01_1": [4.022960662841797, 5.3915815353393555, 0.3804173171520233]}, "robot_pose": [[4.589003086090088, 5.583235263824463, 0.005285188555717468], [7.897242903709412e-05, 2.0354225853225216e-05, -0.9852968454360962, 0.1708512008190155]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..a6ddc5ed510ab908deed5296b36c413cc92d0c94 --- /dev/null +++ b/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1331 [00:00), 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 +[2.935s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.015s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.016s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.019s] [ext: isaacsim.core.prims-0.6.1] startup +[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 +[3.064s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.065s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.067s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.068s] [ext: isaacsim.simulation_app-2.12.2] startup +[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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..d6e77b821ab6be5e530e05095ef137721bb4a4e7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db6635e42b7306de5e02fdda7bf244fa05036f960bd59e749c8d01d0e40469d +size 1459 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..80257ea86dbf14f0c9329b2cf984f1519ec5a62f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "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 +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..095a5762a8ab69551b9ee1b38d24c09ee18fc504 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40ab945020fc0c3b79d4c9f728de24bfb015dd9b87123891d6856b2af3d133a1 +size 23323679 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e240617dec6e8bd9ab3d3329cca38285b3f389ee --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58907376ac2d62cdcc476c86b8d89b52ff6d46891b21d59fa3be3b0a28e87dec +size 2661403 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/case.json new file mode 100644 index 0000000000000000000000000000000000000000..d110bfecc82d89465d549e9459426e164f2fc33f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/case.json @@ -0,0 +1,19 @@ +{ + "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." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..37be0ac4d6fe865aca5a779da2b5fc5e6803263d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019350-f001992", + "episode_id": "00019350", + "instance_id": 935, + "start_type": "judgement_seed", + "source_frame": 1992, + "attempt": "attempt_001", + "completed_at": "2026-09-21T14:39:04+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 1484, + 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f002275/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..8490f4d9e393fed536e96f1896a87990fbcf8b8c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f002275/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1556 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.711s] [ext: omni.physics.tensors-107.3.26] startup +[1.714s] [ext: omni.warp.core-1.8.2] startup +[1.818s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.820s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T04:57:41Z [1,804ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.825s] [ext: omni.physx.tensors-107.3.26] startup +[1.830s] [ext: isaacsim.core.utils-3.5.1] startup +[1.833s] [ext: omni.graph.image.core-0.6.1] startup +[1.834s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[1.920s] [ext: omni.graph.image.nodes-1.3.1] startup +[1.921s] [ext: omni.kit.stage_templates-2.0.0] startup +[1.923s] [ext: isaacsim.core.prims-0.6.1] startup +[1.937s] [ext: omni.syntheticdata-0.6.13] startup +[1.947s] [ext: isaacsim.core.api-4.8.0] startup +[1.960s] [ext: omni.videoencoding-0.1.2] startup +[1.964s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[1.965s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[1.967s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[1.968s] [ext: isaacsim.simulation_app-2.12.2] startup +[1.968s] [ext: omni.graph.ui_nodes-1.50.5] startup +[1.971s] [ext: omni.graph.nodes-1.170.10] startup +[1.978s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[1.981s] [ext: isaacsim.test.docstring-1.1.0] startup +[1.984s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T04:57:41Z [1,964ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[1.985s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[1.990s] [ext: omni.warp-1.8.2] startup +[1.993s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.006s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.010s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.044s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.089s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T04:57:41Z [2,076ms] [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 +2026-09-22T04:57:41Z [2,135ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T04:57:41Z [2,135ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T04:57:41Z [2,135ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.158s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.160s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.165s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.174s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T04:57:41Z [2,155ms] [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. +[2.177s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.181s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.224s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.283s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.289s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.308s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T04:57:42Z [2,292ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.387s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.393s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T04:57:42Z [2,382ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.407s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T04:57:42Z [2,391ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.443s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.520s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T04:57:42Z [2,500ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T04:57:42Z [2,500ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T04:57:42Z [2,514ms] [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. +[2.536s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.547s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T04:57:42Z [2,527ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.548s] [ext: omni.kit.selection-0.1.6] startup +[2.554s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.564s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T04:57:42Z [2,543ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,543ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,544ms] [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. +2026-09-22T04:57:42Z [2,544ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,544ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,545ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,545ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,545ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,545ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T04:57:42Z [2,545ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.566s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.575s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.598s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.604s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T04:57:42Z [2,585ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.607s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.610s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T04:57:42Z [2,590ms] [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. +2026-09-22T04:57:42Z [2,591ms] [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. +2026-09-22T04:57:42Z [2,594ms] [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. +2026-09-22T04:57:42Z [2,600ms] [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. +2026-09-22T04:57:42Z [2,602ms] [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. +2026-09-22T04:57:42Z [2,603ms] [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. +2026-09-22T04:57:42Z [2,604ms] [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. +2026-09-22T04:57:42Z [2,604ms] [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. +2026-09-22T04:57:42Z [2,604ms] [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. +2026-09-22T04:57:42Z [2,604ms] [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. +2026-09-22T04:57:42Z [2,605ms] [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. +2026-09-22T04:57:42Z [2,605ms] [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. +2026-09-22T04:57:42Z [2,606ms] [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. +2026-09-22T04:57:42Z [2,606ms] [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. +2026-09-22T04:57:42Z [2,606ms] [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. +2026-09-22T04:57:42Z [2,606ms] [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. +[2.627s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T04:57:42Z [2,607ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.628s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T04:57:42Z [2,609ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T04:57:42Z [2,609ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.630s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T04:57:42Z [2,610ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.631s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T04:57:42Z [2,612ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.633s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.638s] [ext: omni.isaac.utils-2.0.6] startup +[2.640s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.646s] [ext: isaacsim.app.about-2.0.11] startup +[2.649s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T04:57:42Z [2,629ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.650s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.651s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T04:57:42Z [2,631ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T04:57:42Z [2,631ms] [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. +2026-09-22T04:57:42Z [2,631ms] [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. +2026-09-22T04:57:42Z [2,631ms] [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. +2026-09-22T04:57:42Z [2,632ms] [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. +2026-09-22T04:57:42Z [2,632ms] [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. +2026-09-22T04:57:42Z [2,632ms] [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. +2026-09-22T04:57:42Z [2,632ms] [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. +2026-09-22T04:57:42Z [2,633ms] [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. +2026-09-22T04:57:42Z [2,633ms] [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. +2026-09-22T04:57:42Z [2,634ms] [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. +2026-09-22T04:57:42Z [2,635ms] [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. +[2.656s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T04:57:42Z [2,646ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T04:57:42Z [2,646ms] [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. +[2.668s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.676s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T04:57:42Z [2,656ms] [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. +[2.677s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.683s] [ext: omni.kit.property.audio-1.0.16] startup +[2.684s] [ext: omni.kit.property.camera-1.0.10] startup +[2.685s] [ext: omni.sensors.net-1.0.0] startup +[2.687s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.690s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.692s] [ext: omni.kit.property.light-1.0.12] startup +[2.723s] [ext: omni.kit.property.material-1.11.9] startup +[2.727s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.729s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.730s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.734s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.740s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.744s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.746s] [ext: omni.kit.property.render-1.2.1] startup +[2.747s] [ext: omni.kit.property.transform-1.5.13] startup +[2.749s] [ext: isaacsim.gui.property-1.1.3] startup +[2.751s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.755s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.760s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.767s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.770s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.773s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T04:57:42Z [2,752ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T04:57:42Z [2,752ms] [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. +[2.773s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T04:57:42Z [2,753ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T04:57:42Z [2,753ms] [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. +[2.774s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.789s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,770ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,770ms] [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. +2026-09-22T04:57:42Z [2,771ms] [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. +2026-09-22T04:57:42Z [2,771ms] [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. +2026-09-22T04:57:42Z [2,771ms] [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. +2026-09-22T04:57:42Z [2,771ms] [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. +[2.793s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T04:57:42Z [2,773ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.795s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.806s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.810s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.812s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.814s] [ext: omni.ocio-0.1.1] startup +[2.816s] [ext: omni.rtx.window.settings-0.6.19] startup +[2.823s] [ext: omni.kit.window.console-1.1.4] startup +[2.829s] [ext: omni.kit.window.status_bar-0.1.9] startup +[2.835s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T04:57:42Z [2,814ms] [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. +[2.835s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[2.840s] [ext: omni.rtx.settings.core-0.6.5] startup +[2.845s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[2.851s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T04:57:42Z [2,831ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[2.852s] [ext: semantics.schema.editor-2.0.2] startup +[2.856s] [ext: omni.kit.ui.actions-1.0.5] startup +[2.858s] [ext: semantics.schema.property-2.0.1] startup +[2.859s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T04:57:42Z [2,839ms] [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. +2026-09-22T04:57:42Z [2,839ms] [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. +2026-09-22T04:57:42Z [2,839ms] [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. +[2.860s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T04:57:42Z [2,841ms] [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. +2026-09-22T04:57:42Z [2,841ms] [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. +2026-09-22T04:57:42Z [2,841ms] [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. +2026-09-22T04:57:42Z [2,841ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[2.863s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[2.872s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[2.877s] [ext: omni.kit.menu.common-2.0.1] startup +[2.879s] [ext: isaacsim.exp.base-5.1.0] startup +[2.879s] [ext: omnigibson_5_1_0-3.9.2] startup +[2.880s] Simulation App Starting +2026-09-22T04:57:42Z [2,903ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T04:57:42Z [2,923ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[2.964s] app ready +[4.566s] Simulation App Startup Complete +[4.877s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T04:57:44Z [4,952ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T04:57:45Z [5,720ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.306] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:09.379] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T04:58:33Z [53,162ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T04:58:34Z [55,155ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T04:58:35Z [55,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,393ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,393ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,542ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,542ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,609ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,609ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,640ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,641ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:35Z [55,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,328ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,328ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,328ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,356ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,356ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,375ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,375ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,379ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,379ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,384ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,384ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,401ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,401ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,544ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,544ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,545ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,545ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,836ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,836ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,836ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,836ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T04:58:36Z [56,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:01.658] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:01.696] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T04:58:45Z [65,653ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:10.009] [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. +[00:01:10.012] [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. +2026-09-22T04:58:46Z [66,451ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T04:58:46Z [66,452ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T04:58:46Z [66,453ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T04:58:46Z [66,454ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T04:58:48Z [69,121ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T04:59:00Z [80,644ms] [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 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +2026-09-22T05:00:50Z [190,870ms] [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 +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T05:03:27Z [347,735ms] [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 960 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1080 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1200 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1320 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1440 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1560 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T05:04:52Z [432,677ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:04:52Z [432,677ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:04:52Z [432,677ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[432.796s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f002275/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f002275/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..460180308c4a1f443d2040202d3e10890280f725 --- 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Both grippers empty (grasp_history shows no grasps after f2272). can_of_soda_114 was never touched (zero transitions in log). Robot navigated for 8,261 frames but never returned to any can. 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"case": { + "case_id": "vla-episode_00019360-f000000", + "kind": "vla", + "episode_id": "00019360", + "instance_id": 936, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019360.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 2812 + ], + "reason": "Ordering failure at the first step: task-0001 has fixed phase order A -> B -> C and the robot skipped A (pick up the trash can) and went straight to B, grasping can_of_soda_113 at f2811. Seed at f0 restores the full initial state (both hands free per wrist views at f0, trash can and all cans at their starting poses). None of this row is worth keeping." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fcb11413707196e6b1cbc3231c21b40bcf79e8e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/attempt_001/events.jsonl @@ -0,0 +1,978 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, -0.9294877497864833, 0.31798267671692537, 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"held_worst_rejected_m": null, "base_box_body": [[-0.5072407124467784, -0.4562062318510601, 0.03536032871503941], [0.46285873534497746, 0.5179894771964292, 0.41093715254911084]]} +{"step": 5686, "event": "joint_tracking", "max_error_rad": 0.05441415309906006} +{"step": 5686, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.820023059844971, 5.113141059875488, 0.5308111310005188], "desired_xyz": [5.797902944564819, 5.12532114982605, 0.5253554713726043], "error_m": 0.025834440446555654} +{"step": 5716, "event": "catch_alignment", "horizontal_error_m": 0.011535119630339659, "clearance_m": 0.07330131530761719, "speed_m_s": 0.022358394431370138, "footprint": {"fits": true, "max_normalized_radius": 0.5731984265605599, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}} +{"step": 5716, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_114", "right": "trash_can_116"}, "eef_world": {"left": [[5.756405353546143, 5.187601089477539, 0.6584137082099915], [-0.23659634590148926, 0.9708890914916992, 0.03736594319343567, 0.0005994687671773136]], "right": [[5.820766448974609, 5.113040447235107, 0.5311223268508911], [-0.49028924107551575, 0.8263247609138489, -0.11432110518217087, 0.2524569034576416]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.747035503387451, 5.170515537261963, 0.29152071475982666], "can__of__soda.n.01_1": [5.6952314376831055, 5.168004512786865, 0.4149663746356964], "can__of__soda.n.01_2": [5.755727291107178, 5.190273284912109, 0.6302956342697144], "ashcan.n.01_1": [5.768466472625732, 5.174242973327637, 0.3641168177127838]}, "robot_pose": [[5.079230308532715, 4.869038105010986, 0.005285382270812988], [-2.3981090635061264e-05, 7.717924017924815e-05, 0.20983922481536865, 0.9777359366416931]]}} +{"step": 5781, "event": "catch_verified", "object": "can_of_soda_114"} +{"step": 5781, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.756438732147217, 5.187617778778076, 0.6583439707756042], [-0.23659418523311615, 0.9708899855613708, 0.037359219044446945, 0.0005311915301717818]], "right": [[5.821186065673828, 5.112960338592529, 0.5310859084129333], [-0.49113038182258606, 0.8254188895225525, -0.1153852567076683, 0.25330010056495667]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.746974945068359, 5.168879508972168, 0.29118072986602783], "can__of__soda.n.01_1": [5.695420742034912, 5.167133808135986, 0.4149496555328369], "can__of__soda.n.01_2": [5.798050403594971, 5.2156524658203125, 0.36832699179649353], "ashcan.n.01_1": [5.769213676452637, 5.17379093170166, 0.3638535737991333]}, "robot_pose": [[5.079230308532715, 4.869038105010986, 0.005285322666168213], [-2.3772474378347397e-05, 7.72555940784514e-05, 0.2098391056060791, 0.9777360558509827]]}} +{"step": 5781, "event": "eef_target", "arm": "left", "body_xyz": [0.748189167492529, 0.04842192223529712, 0.6531793286131579], "world_xyz": [5.741753257658161, 5.22025506026567, 0.6583434674415106], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5781, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5781, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5072409139732317, -0.45620620506317455, 0.035360304366016164], [0.4628585334336301, 0.5179890767262266, 0.41093686108070865]]} +{"step": 5800, "event": "joint_tracking", "max_error_rad": 0.0025987625122070312} +{"step": 5800, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.7418036460876465, 5.2202582359313965, 0.6582946181297302], "desired_xyz": [5.741753257658161, 5.22025506026567, 0.6583434674415106], "error_m": 7.0251931932664e-05} +{"step": 5800, "event": "eef_target", "arm": "left", "body_xyz": [0.7481882713566761, 0.08420520716583518, 0.6531797851781612], "world_xyz": [5.7270677831691055, 5.252892341753262, 0.6583429641074162], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5800, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5800, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5072414178745126, -0.456206844406727, 0.03535991014897379], [0.46286124831993475, 0.5179905074399656, 0.4109369202482693]]} +{"step": 5819, "event": "joint_tracking", "max_error_rad": 0.002686142921447754} +{"step": 5819, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.727116107940674, 5.252892017364502, 0.6582960486412048], "desired_xyz": [5.7270677831691055, 5.252892341753262, 0.6583429641074162], "error_m": 6.735317175183957e-05} +{"step": 5819, "event": "eef_target", "arm": "left", "body_xyz": [0.7481885523281042, 0.11999380680186494, 0.6531796805777687], "world_xyz": [5.71238230868005, 5.285529623240856, 0.6583424607733228], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5819, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5819, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5072414556040752, -0.4562070041114814, 0.03535994625120276], [0.46286133179145955, 0.5179905751798695, 0.41093694985538337]]} +{"step": 5838, "event": "joint_tracking", "max_error_rad": 0.0027889013290405273} +{"step": 5838, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.712629795074463, 5.2850799560546875, 0.658284604549408], "desired_xyz": [5.71238230868005, 5.285529623240856, 0.6583424607733228], "error_m": 0.0005165243812072268} +{"step": 5838, "event": "primitive_verified", "operation": "deposit:can_of_soda_114", "start": 4902, "end": 5838} +{"step": 5838, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.712629795074463, 5.2850799560546875, 0.658284604549408], [-0.24068894982337952, 0.969815731048584, 0.03906711935997009, 0.0001620804687263444]], "right": [[5.82142448425293, 5.111584186553955, 0.5307371020317078], [-0.4940720498561859, 0.8234691023826599, -0.1194920465350151, 0.25201812386512756]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.747369289398193, 5.164770603179932, 0.29011070728302], "can__of__soda.n.01_1": [5.695651054382324, 5.163952827453613, 0.41386792063713074], "can__of__soda.n.01_2": [5.798165321350098, 5.212629795074463, 0.36648571491241455], "ashcan.n.01_1": [5.769565582275391, 5.170541763305664, 0.3627866804599762]}, "robot_pose": [[5.079230308532715, 4.8690409660339355, 0.005285352468490601], [-2.3533590137958527e-05, 7.747724885120988e-05, 0.20984211564064026, 0.9777354001998901]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..6ab09654ae8cc78148b8ab1c2baae996140f1a19 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f000000/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5722 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.875s] [ext: omni.physics.tensors-107.3.26] startup +[1.879s] [ext: omni.warp.core-1.8.2] startup +[1.995s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.997s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T09:35:55Z [1,951ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.002s] [ext: omni.physx.tensors-107.3.26] startup +[2.044s] [ext: isaacsim.core.utils-3.5.1] startup +[2.047s] [ext: omni.graph.image.core-0.6.1] startup +[2.049s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.127s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.128s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.130s] [ext: isaacsim.core.prims-0.6.1] startup +[2.148s] [ext: omni.syntheticdata-0.6.13] startup +[2.160s] [ext: isaacsim.core.api-4.8.0] startup +[2.176s] [ext: omni.videoencoding-0.1.2] startup +[2.180s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.182s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.185s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.186s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.186s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.189s] [ext: omni.graph.nodes-1.170.10] startup +[2.197s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.201s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.204s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T09:35:55Z [2,154ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.205s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.211s] [ext: omni.warp-1.8.2] startup +[2.215s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.227s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.228s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.247s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.296s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T09:35:55Z [2,261ms] [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 +2026-09-20T09:35:55Z [2,356ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T09:35:55Z [2,356ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T09:35:55Z [2,357ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.410s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.413s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.418s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.424s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T09:35:55Z [2,375ms] [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. +[2.427s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.432s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.458s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.500s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.511s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.556s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T09:35:55Z [2,510ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.577s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.580s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T09:35:55Z [2,536ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.591s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T09:35:55Z [2,564ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.620s] [ext: omni.anim.curve.core-1.3.1] startup +[2.676s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T09:35:55Z [2,632ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:35:55Z [2,634ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:35:55Z [2,722ms] [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. +[2.774s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.841s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T09:35:55Z [2,792ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.844s] [ext: omni.kit.selection-0.1.6] startup +[2.845s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.851s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T09:35:55Z [2,801ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,801ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,801ms] [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. +2026-09-20T09:35:55Z [2,804ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,804ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,804ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,804ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,806ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,806ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:35:55Z [2,806ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.858s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.866s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.873s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.882s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T09:35:55Z [2,833ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.884s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.889s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T09:35:55Z [2,841ms] [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. +2026-09-20T09:35:55Z [2,841ms] [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. +2026-09-20T09:35:55Z [2,843ms] [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. +2026-09-20T09:35:55Z [2,843ms] [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. +2026-09-20T09:35:55Z [2,843ms] [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. +2026-09-20T09:35:55Z [2,844ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,845ms] [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. +2026-09-20T09:35:55Z [2,846ms] [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. +2026-09-20T09:35:55Z [2,846ms] [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. +2026-09-20T09:35:55Z [2,847ms] [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. +2026-09-20T09:35:55Z [2,847ms] [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. +[2.898s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T09:35:55Z [2,848ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.900s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T09:35:55Z [2,852ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T09:35:55Z [2,853ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.904s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T09:35:55Z [2,855ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.906s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T09:35:55Z [2,857ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.908s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.915s] [ext: omni.isaac.utils-2.0.6] startup +[2.917s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.934s] [ext: isaacsim.app.about-2.0.11] startup +[2.937s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T09:35:55Z [2,887ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.938s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.939s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T09:35:55Z [2,890ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T09:35:55Z [2,891ms] [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. +2026-09-20T09:35:55Z [2,891ms] [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. +2026-09-20T09:35:55Z [2,892ms] [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. +2026-09-20T09:35:55Z [2,892ms] [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. +2026-09-20T09:35:55Z [2,892ms] [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. +2026-09-20T09:35:55Z [2,893ms] [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. +2026-09-20T09:35:55Z [2,893ms] [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. +2026-09-20T09:35:55Z [2,894ms] [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. +2026-09-20T09:35:55Z [2,894ms] [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. +2026-09-20T09:35:55Z [2,894ms] [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. +2026-09-20T09:35:55Z [2,899ms] [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. +[2.950s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T09:35:56Z [2,910ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T09:35:56Z [2,910ms] [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. +[2.961s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.967s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T09:35:56Z [2,917ms] [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. +[2.968s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.974s] [ext: omni.kit.property.audio-1.0.16] startup +[2.975s] [ext: omni.kit.property.camera-1.0.10] startup +[2.976s] [ext: omni.sensors.net-1.0.0] startup +[2.978s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.981s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.983s] [ext: omni.kit.property.light-1.0.12] startup +[3.026s] [ext: omni.kit.property.material-1.11.9] startup +[3.031s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.033s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.035s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.040s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.046s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.050s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.053s] [ext: omni.kit.property.render-1.2.1] startup +[3.054s] [ext: omni.kit.property.transform-1.5.13] startup +[3.057s] [ext: isaacsim.gui.property-1.1.3] startup +[3.058s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.063s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.070s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.077s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.080s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.084s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T09:35:56Z [3,034ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T09:35:56Z [3,034ms] [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. +[3.085s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T09:35:56Z [3,035ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T09:35:56Z [3,035ms] [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. +[3.086s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.096s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T09:35:56Z [3,047ms] [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. +2026-09-20T09:35:56Z [3,047ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T09:35:56Z [3,047ms] [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. +2026-09-20T09:35:56Z [3,047ms] [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. +2026-09-20T09:35:56Z [3,048ms] [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. +2026-09-20T09:35:56Z [3,048ms] [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. +2026-09-20T09:35:56Z [3,048ms] [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. +2026-09-20T09:35:56Z [3,048ms] [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. +2026-09-20T09:35:56Z [3,049ms] [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. +2026-09-20T09:35:56Z [3,049ms] [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. +2026-09-20T09:35:56Z [3,050ms] [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. +[3.101s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T09:35:56Z [3,053ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.104s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.114s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.116s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.118s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.121s] [ext: omni.ocio-0.1.1] startup +[3.123s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.135s] [ext: omni.kit.window.console-1.1.4] startup +[3.143s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.147s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T09:35:56Z [3,097ms] [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. +[3.148s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.153s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.157s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.166s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T09:35:56Z [3,115ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.167s] [ext: semantics.schema.editor-2.0.2] startup +[3.171s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.172s] [ext: semantics.schema.property-2.0.1] startup +[3.173s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T09:35:56Z [3,123ms] [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. +2026-09-20T09:35:56Z [3,123ms] [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. +2026-09-20T09:35:56Z [3,123ms] [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. +[3.174s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T09:35:56Z [3,125ms] [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. +2026-09-20T09:35:56Z [3,125ms] [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. +2026-09-20T09:35:56Z [3,125ms] [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. +2026-09-20T09:35:56Z [3,125ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.176s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.186s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.191s] [ext: omni.kit.menu.common-2.0.1] startup +[3.193s] [ext: isaacsim.exp.base-5.1.0] startup +[3.193s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.194s] Simulation App Starting +2026-09-20T09:35:56Z [3,621ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[3.708s] app ready +[6.491s] Simulation App Startup Complete +[6.810s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T09:36:00Z [6,921ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T09:36:00Z [7,835ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.608] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.780] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T09:36:56Z [63,562ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:36:58Z [65,639ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T09:36:58Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:58Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:58Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:58Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:58Z [65,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:58Z [65,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,016ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,016ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,229ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,229ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:36:59Z [66,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [66,977ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [66,977ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [66,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [66,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,023ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,023ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,027ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,027ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,038ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,038ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,044ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,044ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,502ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,502ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,529ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,529ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:37:00Z [67,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:12.678] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.722] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T09:37:10Z [77,643ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:22.289] [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. +[00:01:22.292] [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. +2026-09-20T09:37:11Z [78,547ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:37:11Z [78,548ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:37:11Z [78,549ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:37:11Z [78,550ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:37:14Z [81,613ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T09:37:21Z [88,728ms] [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 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 720 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +2026-09-20T09:40:16Z [262,938ms] [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 +RECOVERY progress 840 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 human_carry_pose_for_pick {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T09:43:02Z [429,620ms] [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 1680 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1800 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1920 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2040 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2160 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2280 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T09:47:26Z [693,331ms] [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 3240 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3360 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3480 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3600 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3720 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3840 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3960 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4080 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4200 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4320 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4440 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4680 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4800 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T09:51:49Z [956,153ms] [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 4920 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5040 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5160 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5280 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5400 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5520 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5640 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5760 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-20T09:53:44Z [1,071,891ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. 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"case": { + "case_id": "vla-episode_00019360-f002813", + "kind": "vla", + "episode_id": "00019360", + "instance_id": 936, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019360.json", + "frame": 2813, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 2813, + 4358 + ], + "reason": "Still ordering failure: seed at the first frame of the row per the ordering rule. By f2813 the right hand holds can_of_soda_113 and the trash can is still untouched; the left hand is empty and the trash can is still recoverable, so from this state releasing the can and picking up the trash can is possible in principle. This state (one soda can held while trash can never picked) occurs in no demo I opened (010, 020, 050, 080, 140)." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1209584bc9ab1aee7f813fdd909e1276c8c5268f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/events.jsonl @@ -0,0 +1,499 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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0.16092786192893982]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.904900550842285, 4.882035255432129, 0.23792877793312073], "can__of__soda.n.01_2": [5.6478705406188965, 5.389431953430176, 0.0714573785662651], "can__of__soda.n.01_1": [4.715056896209717, 5.725315570831299, 0.07145719975233078], "ashcan.n.01_1": [5.921096324920654, 4.892703533172607, 0.31223466992378235]}, "robot_pose": [[5.271585941314697, 4.712653160095215, 0.005285307765007019], [-3.539910539984703e-05, 7.268688204931095e-05, 0.35924482345581055, 0.9332433342933655]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..93b041e49af267c7a9a705e1673d04ffdd675f3c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/3597 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.988s] [ext: omni.physics.tensors-107.3.26] startup +[1.991s] [ext: omni.warp.core-1.8.2] startup +[2.096s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.098s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T14:34:09Z [2,090ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.112s] [ext: omni.physx.tensors-107.3.26] startup +[2.116s] [ext: isaacsim.core.utils-3.5.1] startup +[2.119s] [ext: omni.graph.image.core-0.6.1] startup +[2.121s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.197s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.199s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.200s] [ext: isaacsim.core.prims-0.6.1] startup +[2.215s] [ext: omni.syntheticdata-0.6.13] startup +[2.225s] [ext: isaacsim.core.api-4.8.0] startup +[2.238s] [ext: omni.videoencoding-0.1.2] startup +[2.241s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.242s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.246s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.248s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.248s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.253s] [ext: omni.graph.nodes-1.170.10] startup +[2.262s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.268s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.272s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T14:34:10Z [2,252ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.273s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.283s] [ext: omni.warp-1.8.2] startup +[2.290s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.308s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.310s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.330s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.403s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T14:34:10Z [2,417ms] [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 +2026-09-21T14:34:10Z [2,503ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T14:34:10Z [2,503ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T14:34:10Z [2,504ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.527s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.531s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.536s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.548s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T14:34:10Z [2,531ms] [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. +[2.554s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.563s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.581s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.594s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.599s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.601s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T14:34:10Z [2,584ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.616s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.621s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T14:34:10Z [2,621ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.642s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T14:34:10Z [2,623ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.645s] [ext: omni.anim.curve.core-1.3.1] startup +[2.714s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T14:34:10Z [2,695ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:34:10Z [2,695ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:34:10Z [2,708ms] [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. +[2.729s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.744s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T14:34:10Z [2,724ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.746s] [ext: omni.kit.selection-0.1.6] startup +[2.755s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.864s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T14:34:10Z [2,843ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,855ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,863ms] [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. +2026-09-21T14:34:10Z [2,891ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,895ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. 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. +2026-09-21T14:34:10Z [2,896ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,896ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,897ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,900ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:34:10Z [2,901ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.923s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.934s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.952s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.958s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T14:34:10Z [2,939ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.962s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.967s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T14:34:10Z [2,948ms] [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. +2026-09-21T14:34:10Z [2,949ms] [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. +2026-09-21T14:34:10Z [2,949ms] [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. +2026-09-21T14:34:10Z [2,949ms] [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. +2026-09-21T14:34:10Z [2,949ms] [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. +2026-09-21T14:34:10Z [2,949ms] [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. +2026-09-21T14:34:10Z [2,955ms] [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. +2026-09-21T14:34:10Z [2,955ms] [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. +2026-09-21T14:34:10Z [2,955ms] [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. +2026-09-21T14:34:10Z [2,955ms] [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. +2026-09-21T14:34:10Z [2,955ms] [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. +2026-09-21T14:34:10Z [2,956ms] [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. +2026-09-21T14:34:10Z [2,956ms] [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. +2026-09-21T14:34:10Z [2,956ms] [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. +2026-09-21T14:34:10Z [2,956ms] [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. +2026-09-21T14:34:10Z [2,956ms] [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. +[2.978s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T14:34:10Z [2,958ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.979s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T14:34:10Z [2,961ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T14:34:10Z [2,961ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.982s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T14:34:10Z [2,963ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.986s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T14:34:10Z [2,967ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.988s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.994s] [ext: omni.isaac.utils-2.0.6] startup +[2.996s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.003s] [ext: isaacsim.app.about-2.0.11] startup +[3.006s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T14:34:10Z [2,985ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.007s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.008s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T14:34:10Z [2,988ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T14:34:10Z [2,988ms] [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. +2026-09-21T14:34:10Z [2,989ms] [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. +2026-09-21T14:34:10Z [2,991ms] [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. +2026-09-21T14:34:10Z [2,991ms] [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. +2026-09-21T14:34:10Z [2,992ms] [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. +2026-09-21T14:34:10Z [2,993ms] [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. +2026-09-21T14:34:10Z [2,993ms] [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. +2026-09-21T14:34:10Z [2,993ms] [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. +2026-09-21T14:34:10Z [2,993ms] [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. +2026-09-21T14:34:10Z [2,993ms] [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. +2026-09-21T14:34:10Z [2,994ms] [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. +[3.016s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T14:34:10Z [3,004ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T14:34:10Z [3,004ms] [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. +[3.026s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.033s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T14:34:10Z [3,012ms] [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. +[3.034s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.050s] [ext: omni.kit.property.audio-1.0.16] startup +[3.052s] [ext: omni.kit.property.camera-1.0.10] startup +[3.053s] [ext: omni.sensors.net-1.0.0] startup +[3.057s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.061s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.065s] [ext: omni.kit.property.light-1.0.12] startup +[3.119s] [ext: omni.kit.property.material-1.11.9] startup +[3.135s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.137s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.141s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.149s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.160s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.166s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.170s] [ext: omni.kit.property.render-1.2.1] startup +[3.172s] [ext: omni.kit.property.transform-1.5.13] startup +[3.175s] [ext: isaacsim.gui.property-1.1.3] startup +[3.176s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.183s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.188s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.200s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.204s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.211s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T14:34:10Z [3,190ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T14:34:10Z [3,192ms] [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. +[3.214s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T14:34:10Z [3,194ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T14:34:10Z [3,194ms] [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. +[3.216s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.229s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T14:34:10Z [3,210ms] [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. +2026-09-21T14:34:10Z [3,210ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,211ms] [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. +2026-09-21T14:34:10Z [3,213ms] [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. +2026-09-21T14:34:10Z [3,214ms] [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. +2026-09-21T14:34:10Z [3,214ms] [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. +[3.236s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T14:34:10Z [3,217ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.239s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.253s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.256s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.258s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.261s] [ext: omni.ocio-0.1.1] startup +[3.264s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.279s] [ext: omni.kit.window.console-1.1.4] startup +[3.287s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.294s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T14:34:11Z [3,273ms] [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. +[3.295s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.303s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.309s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.319s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T14:34:11Z [3,299ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.321s] [ext: semantics.schema.editor-2.0.2] startup +[3.327s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.329s] [ext: semantics.schema.property-2.0.1] startup +[3.331s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T14:34:11Z [3,311ms] [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. +2026-09-21T14:34:11Z [3,311ms] [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. +2026-09-21T14:34:11Z [3,312ms] [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. +[3.333s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T14:34:11Z [3,314ms] [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. +2026-09-21T14:34:11Z [3,314ms] [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. +2026-09-21T14:34:11Z [3,314ms] [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. +2026-09-21T14:34:11Z [3,314ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.335s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.346s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.352s] [ext: omni.kit.menu.common-2.0.1] startup +[3.354s] [ext: isaacsim.exp.base-5.1.0] startup +[3.355s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.356s] Simulation App Starting +2026-09-21T14:34:11Z [3,381ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T14:34:11Z [3,403ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-09-21T14:34:11Z [3,412ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-09-21T14:34:11Z [3,412ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-09-21T14:34:11Z [3,412ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[3.440s] app ready +[5.659s] Simulation App Startup Complete +[5.933s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T14:34:13Z [6,044ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T14:34:14Z [6,982ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.567] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.666] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T14:35:08Z [61,222ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:35:11Z [63,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,468ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,468ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,468ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,468ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,643ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,643ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,673ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,673ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,704ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,704ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,737ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,737ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,737ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,737ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,737ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,738ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,743ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:11Z [63,743ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,396ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,396ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,401ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,401ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,824ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,825ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,825ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,825ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:35:12Z [64,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:35:13Z [65,752ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:09.600] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:09.638] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T14:35:21Z [73,247ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:17.481] [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. +[00:01:17.484] [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. +2026-09-21T14:35:21Z [73,933ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:35:21Z [73,934ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:35:21Z [73,935ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:35:21Z [73,936ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:35:24Z [76,457ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T14:35:27Z [79,794ms] [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 +2026-09-21T14:35:31Z [83,766ms] [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 +2026-09-21T14:36:37Z [149,298ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 600 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1080 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T14:40:06Z [358,938ms] [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 +RECOVERY progress 1200 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 recover_and_reobserve {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T14:54:00Z [1,192,582ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:54:00Z [1,192,582ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:54:00Z [1,192,582ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1192.969s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..78d5174b8e0e3ca4480db936842038141e96bfc7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07a5096beb9dd31b5a001c2d0bed42b54a8a27872965ddc3d45c3c10d35d70bb +size 3725 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1aa57123b9585073b2c438526dea2454c4920e07 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37dd44e7c849bf84ae27a74fd55049f02cbdec6a2fbd0023431511940b6a5301 +size 56230357 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c30c22b7ca13046b30bb5437138105213a49e014 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea16d9d60d2e17c696c9e532f505ba56f098be182320f2e5b84cc1c9f13ff4c3 +size 7992958 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/case.json new file mode 100644 index 0000000000000000000000000000000000000000..309a00960e8b3ca4b1989e2a59919892776e8257 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019360-f002813", + "kind": "vla", + "episode_id": "00019360", + "instance_id": 936, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019360.json", + "frame": 2813, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 2813, + 4358 + ], + "reason": "Still ordering failure: seed at the first frame of the row per the ordering rule. By f2813 the right hand holds can_of_soda_113 and the trash can is still untouched; the left hand is empty and the trash can is still recoverable, so from this state releasing the can and picking up the trash can is possible in principle. This state (one soda can held while trash can never picked) occurs in no demo I opened (010, 020, 050, 080, 140)." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8cf24352fcbd3c9ac6144564d8eefc8f07a220 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f002813/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019360-f002813", + "episode_id": "00019360", + "instance_id": 936, + "start_type": "judgement_seed", + "source_frame": 2813, + "attempt": "attempt_001", + "completed_at": "2026-09-21T14:56:35+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 3597, + "dataset_frames": 3597, + "dataset_passed": true, + "supervised_frames": 1268, + "dataset_root": "runs/vla-episode_00019360-f002813/attempt_001/dataset", + "video": "runs/vla-episode_00019360-f002813/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": null, + "right": "can_of_soda_113" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 150 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..80142c8987d01918e016c54158fa20bc85809c0a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25a7fcdd09e5e1eb27ae246f3e2c84c9e4218e6bc3ed84533097968139366763 +size 2214662 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c8ef4b057f5a5c2584c326e70d50cbee10b4d318 --- /dev/null +++ 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"codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "action" + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "reward" + ] + }, + "next.terminated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 61 + ], + "names": [ + null + ] + }, + "observation.robot2cam_pose.left_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "observation.robot2cam_pose.right_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + 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"case": { + "case_id": "vla-episode_00019360-f004359", + "kind": "vla", + "episode_id": "00019360", + "instance_id": 936, + "source_n_steps": 10536, + "seed_rank": 2, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019360.json", + "frame": 4359, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4359, + 10535 + ], + "reason": "No progress from f4359 to episode end (log records zero transitions after f4358; head view swept at stride 100-500 across [4400, 10525] shows the robot wedged in the same brick-wall corner with both cans held, wrist views static). Seed at row start; past the point of no return (both grippers full, trash can never picked), so this recovery cannot succeed on its own terms and must be treated as a subtask restart from a degraded state. This state (both hands loaded, trash can still on floor) occurs in no demo I opened." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eea94c64f8bbe22df4dd42181ac8d5b3d42e6c4a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/events.jsonl @@ -0,0 +1,580 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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"collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}} +{"step": 4141, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": "trash_can_116"}, "eef_world": {"left": [[4.8899760246276855, 5.502545356750488, 0.6344612836837769], [-0.4899871349334717, 0.8715724945068359, -0.016556300222873688, 0.00022371095838025212]], "right": [[5.013680458068848, 5.4187211990356445, 0.4858435094356537], [-0.5340173840522766, 0.8295941352844238, -0.013754995539784431, 0.16251124441623688]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.896446704864502, 5.449320316314697, 0.38715657591819763], "can__of__soda.n.01_2": [4.931173801422119, 5.507471561431885, 0.2925371527671814], "can__of__soda.n.01_1": [4.8898749351501465, 5.502187252044678, 0.6062376499176025], "ashcan.n.01_1": [4.914281845092773, 5.475980758666992, 0.35095664858818054]}, "robot_pose": [[4.518451690673828, 4.980960845947266, 0.00528523325920105], [-4.4570304453372955e-05, 6.752228364348412e-05, 0.47892284393310547, 0.8778571486473083]]}} +{"step": 4206, "event": "catch_verified", "object": "can_of_soda_115"} +{"step": 4206, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.890003204345703, 5.502599239349365, 0.6343340277671814], [-0.48999059200286865, 0.8715697526931763, -0.01659788005053997, 9.854460222413763e-05]], "right": [[5.015056133270264, 5.418381214141846, 0.48573198914527893], [-0.5352223515510559, 0.8283036351203918, -0.016311492770910263, 0.16487634181976318]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.899178981781006, 5.447815895080566, 0.3860156536102295], "can__of__soda.n.01_2": [4.933798313140869, 5.506350040435791, 0.29170361161231995], "can__of__soda.n.01_1": [4.88199520111084, 5.533962726593018, 0.4515376091003418], "ashcan.n.01_1": [4.916452884674072, 5.4750823974609375, 0.35003936290740967]}, "robot_pose": [[4.518451690673828, 4.980960845947266, 0.005285307765007019], [-4.4619664549827576e-05, 6.751483306288719e-05, 0.4789227843284607, 0.8778571486473083]]}} +{"step": 4206, "event": "eef_target", "arm": "left", "body_xyz": [0.6396271300966725, 0.007437696399612226, 0.629151473156309], "world_xyz": [4.858453813915986, 5.5229079563094325, 0.6343335148359069], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4206, "event": "torso_collision_guard", "start_overlap_m": 0.0001142724128799788, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0001142724128799788, "rejected_solutions": 0, "accepted": true} +{"step": 4206, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5113221558800393, -0.5382873101014817, 0.03536266200604979], [0.5090110046049356, 0.4777214177583264, 0.41093947349772536]]} +{"step": 4223, "event": "joint_tracking", "max_error_rad": 0.0036972761154174805} +{"step": 4223, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.858480453491211, 5.522942543029785, 0.634272038936615], "desired_xyz": [4.858453813915986, 5.5229079563094325, 0.6343335148359069], "error_m": 7.540022802793925e-05} +{"step": 4223, "event": "eef_target", "arm": "left", "body_xyz": [0.6396210389922345, 0.04495220684795381, 0.6291517919824737], "world_xyz": [4.826904423486268, 5.5432166732695, 0.6343330019046325], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4223, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4223, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5113224466219073, -0.5382870935799068, 0.03536238324309563], [0.509010713627083, 0.47772158571921053, 0.4109397259619398]]} +{"step": 4240, "event": "joint_tracking", "max_error_rad": 0.0036439895629882812} +{"step": 4240, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.826928615570068, 5.543244361877441, 0.6342723965644836], "desired_xyz": [4.826904423486268, 5.5432166732695, 0.6343330019046325], "error_m": 7.088669256563891e-05} +{"step": 4240, "event": "eef_target", "arm": "left", "body_xyz": [0.6396197162749693, 0.08246992415208865, 0.6291510274157168], "world_xyz": [4.79535503305655, 5.563525390229568, 0.634332488973358], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4240, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4240, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5113219281274061, -0.5382870706554606, 0.03536311032640744], [0.5090101599684983, 0.47772115708891427, 0.41093913713604446]]} +{"step": 4257, "event": "joint_tracking", "max_error_rad": 0.0035512447357177734} +{"step": 4257, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.795657634735107, 5.563362121582031, 0.6342504024505615], "desired_xyz": [4.79535503305655, 5.563525390229568, 0.634332488973358], "error_m": 0.00035350052950309125} +{"step": 4257, "event": "eef_target", "arm": "left", "body_xyz": [0.6396182625034493, 0.11998649574471273, 0.6291519726008995], "world_xyz": [4.763805642626833, 5.583834107189635, 0.634331976042084], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4257, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4257, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5113227579602382, -0.5382867694350654, 0.03536203159504937], [0.5090092663963927, 0.47772074003951553, 0.4109399933400447]]} +{"step": 4274, "event": "joint_tracking", "max_error_rad": 0.0020791292190551758} +{"step": 4274, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.764181137084961, 5.583651065826416, 0.6341760754585266], "desired_xyz": [4.763805642626833, 5.583834107189635, 0.634331976042084], "error_m": 0.000445875790649613} +{"step": 4274, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 3603, "end": 4274} +{"step": 4274, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.764181137084961, 5.583651065826416, 0.6341760754585266], [-0.4931289553642273, 0.869835376739502, -0.014502733014523983, -4.845960938837379e-05]], "right": [[5.016976833343506, 5.417081832885742, 0.4852483868598938], [-0.5387291312217712, 0.8254579305648804, -0.021911030635237694, 0.167062908411026]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.90366792678833, 5.443662166595459, 0.3810851573944092], "can__of__soda.n.01_2": [4.937549591064453, 5.499604225158691, 0.28801631927490234], "can__of__soda.n.01_1": [4.885670185089111, 5.53177547454834, 0.4442826807498932], "ashcan.n.01_1": [4.919400691986084, 5.472034931182861, 0.34808114171028137]}, "robot_pose": [[4.518453598022461, 4.98098611831665, 0.005285322666168213], [-4.47835773229599e-05, 6.774213397875428e-05, 0.47893476486206055, 0.8778505921363831]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..e96e299b427c66edf893463336677873ce4f7dd4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4148 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.823s] [ext: omni.physics.tensors-107.3.26] startup +[1.827s] [ext: omni.warp.core-1.8.2] startup +[1.942s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.944s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T05:05:02Z [1,940ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.949s] [ext: omni.physx.tensors-107.3.26] startup +[1.954s] [ext: isaacsim.core.utils-3.5.1] startup +[1.957s] [ext: omni.graph.image.core-0.6.1] startup +[1.958s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.032s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.034s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.035s] [ext: isaacsim.core.prims-0.6.1] startup +[2.049s] [ext: omni.syntheticdata-0.6.13] startup +[2.059s] [ext: isaacsim.core.api-4.8.0] startup +[2.071s] [ext: omni.videoencoding-0.1.2] startup +[2.074s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.074s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.076s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.077s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.078s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.080s] [ext: omni.graph.nodes-1.170.10] startup +[2.088s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.090s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.093s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T05:05:02Z [2,085ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.094s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.099s] [ext: omni.warp-1.8.2] startup +[2.102s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.115s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.120s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.145s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.195s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T05:05:02Z [2,204ms] [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 +2026-09-22T05:05:02Z [2,269ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T05:05:02Z [2,269ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T05:05:02Z [2,270ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.280s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.283s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.290s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.300s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T05:05:02Z [2,294ms] [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. +[2.304s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.313s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.380s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.438s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.485s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.504s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T05:05:02Z [2,501ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.544s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.574s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T05:05:02Z [2,596ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.632s] [ext: omni.isaac.cortex-1.0.5] 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. +2026-09-22T05:05:02Z [2,626ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.635s] [ext: omni.anim.curve.core-1.3.1] startup +[2.667s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T05:05:02Z [2,659ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:05:02Z [2,660ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:05:02Z [2,685ms] [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. +[2.695s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.708s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T05:05:03Z [2,701ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.710s] [ext: omni.kit.selection-0.1.6] startup +[2.713s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.723s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T05:05:03Z [2,716ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,716ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,716ms] [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. +2026-09-22T05:05:03Z [2,717ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,717ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,718ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:05:03Z [2,718ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.728s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.743s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.754s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.767s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T05:05:03Z [2,760ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.768s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.774s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T05:05:03Z [2,767ms] [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. +2026-09-22T05:05:03Z [2,769ms] [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. +2026-09-22T05:05:03Z [2,770ms] [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. +2026-09-22T05:05:03Z [2,770ms] [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. +2026-09-22T05:05:03Z [2,771ms] [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. +2026-09-22T05:05:03Z [2,771ms] [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. +2026-09-22T05:05:03Z [2,773ms] [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. +2026-09-22T05:05:03Z [2,773ms] [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. +2026-09-22T05:05:03Z [2,773ms] [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. +2026-09-22T05:05:03Z [2,774ms] [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. +2026-09-22T05:05:03Z [2,775ms] [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. +2026-09-22T05:05:03Z [2,776ms] [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. +2026-09-22T05:05:03Z [2,776ms] [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. +2026-09-22T05:05:03Z [2,776ms] [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. +2026-09-22T05:05:03Z [2,776ms] [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. +2026-09-22T05:05:03Z [2,776ms] [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. +[2.785s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T05:05:03Z [2,778ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.787s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T05:05:03Z [2,781ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T05:05:03Z [2,781ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.790s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T05:05:03Z [2,783ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.792s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T05:05:03Z [2,785ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.793s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.798s] [ext: omni.isaac.utils-2.0.6] startup +[2.800s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.814s] [ext: isaacsim.app.about-2.0.11] startup +[2.818s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T05:05:03Z [2,810ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.820s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.821s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T05:05:03Z [2,815ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T05:05:03Z [2,815ms] [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. +2026-09-22T05:05:03Z [2,815ms] [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. +2026-09-22T05:05:03Z [2,816ms] [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. +2026-09-22T05:05:03Z [2,816ms] [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. +2026-09-22T05:05:03Z [2,816ms] [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. +2026-09-22T05:05:03Z [2,816ms] [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. +2026-09-22T05:05:03Z [2,817ms] [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. +2026-09-22T05:05:03Z [2,817ms] [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. +2026-09-22T05:05:03Z [2,817ms] [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. +2026-09-22T05:05:03Z [2,817ms] [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. +2026-09-22T05:05:03Z [2,818ms] [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. +[2.827s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T05:05:03Z [2,832ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T05:05:03Z [2,832ms] [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. +[2.842s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.849s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T05:05:03Z [2,841ms] [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. +[2.850s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.858s] [ext: omni.kit.property.audio-1.0.16] startup +[2.859s] [ext: omni.kit.property.camera-1.0.10] startup +[2.860s] [ext: omni.sensors.net-1.0.0] startup +[2.863s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.867s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.869s] [ext: omni.kit.property.light-1.0.12] startup +[2.907s] [ext: omni.kit.property.material-1.11.9] startup +[2.911s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.913s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.914s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.918s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.924s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.928s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.932s] [ext: omni.kit.property.render-1.2.1] startup +[2.933s] [ext: omni.kit.property.transform-1.5.13] startup +[2.935s] [ext: isaacsim.gui.property-1.1.3] startup +[2.937s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.942s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.947s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.955s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.958s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.960s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T05:05:03Z [2,952ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T05:05:03Z [2,953ms] [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. +[2.961s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T05:05:03Z [2,955ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T05:05:03Z [2,955ms] [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. +[2.964s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.979s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T05:05:03Z [2,972ms] [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. +2026-09-22T05:05:03Z [2,972ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T05:05:03Z [2,972ms] [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. +2026-09-22T05:05:03Z [2,972ms] [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. +2026-09-22T05:05:03Z [2,972ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +2026-09-22T05:05:03Z [2,973ms] [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. +[2.982s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T05:05:03Z [2,976ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.985s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.995s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.999s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.001s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.003s] [ext: omni.ocio-0.1.1] startup +[3.006s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.019s] [ext: omni.kit.window.console-1.1.4] startup +[3.025s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.031s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T05:05:03Z [3,023ms] [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. +[3.032s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.037s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.043s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.053s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T05:05:03Z [3,046ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.055s] [ext: semantics.schema.editor-2.0.2] startup +[3.059s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.060s] [ext: semantics.schema.property-2.0.1] startup +[3.061s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T05:05:03Z [3,053ms] [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. +2026-09-22T05:05:03Z [3,053ms] [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. +2026-09-22T05:05:03Z [3,053ms] [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. +[3.062s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T05:05:03Z [3,055ms] [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. +2026-09-22T05:05:03Z [3,055ms] [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. +2026-09-22T05:05:03Z [3,055ms] [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. +2026-09-22T05:05:03Z [3,055ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.064s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.072s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.081s] [ext: omni.kit.menu.common-2.0.1] startup +[3.083s] [ext: isaacsim.exp.base-5.1.0] startup +[3.084s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.085s] Simulation App Starting +2026-09-22T05:05:03Z [3,124ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T05:05:03Z [3,146ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.189s] app ready +[4.933s] Simulation App Startup Complete +[5.330s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T05:05:05Z [5,427ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T05:05:06Z [6,296ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.938] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.186] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T05:06:02Z [62,336ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:06:04Z [64,248ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T05:06:04Z [64,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,679ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,679ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:04Z [64,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,712ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,712ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,712ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,712ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,785ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [64,785ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,461ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,461ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,478ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,478ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,488ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,488ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,493ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,493ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:05Z [65,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,929ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,929ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:06Z [65,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:06:06Z [66,039ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:06:06Z [66,039ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:10.829] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:10.868] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T05:06:15Z [74,850ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:19.309] [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. +[00:01:19.311] [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. +2026-09-22T05:06:15Z [75,697ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:06:15Z [75,698ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:06:16Z [75,699ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:06:16Z [75,700ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:06:18Z [78,566ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T05:06:23Z [83,618ms] [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 +2026-09-22T05:06:23Z [83,693ms] [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 +2026-09-22T05:06:29Z [89,314ms] [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 +2026-09-22T05:06:29Z [89,383ms] [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 +2026-09-22T05:07:34Z [153,937ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 release_into_grounded_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1800 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1920 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-22T05:13:44Z [524,647ms] [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 +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +2026-09-22T05:17:38Z [758,547ms] [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 3600 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3720 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3840 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3960 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4080 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4200 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T05:19:08Z [847,871ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:19:08Z [847,871ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:19:08Z [847,871ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[847.979s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..334f7c64dd3578883875c8315252a5aad6158d1a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019360-f004359/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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[3.61929988861084, 6.431416034698486, 0.965302813053131], "held": {"left": null, "right": "trash_can_116"}} +{"step": 436, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 436, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5065882349954048, -0.5390942629135587, 0.03536329306993192], [0.521243528312975, 0.48328745837358844, 0.41094185908700376]]} +{"step": 456, "event": "joint_tracking", "max_error_rad": 0.0029381215572357178} +{"step": 456, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.619192361831665, 6.431514263153076, 0.9650677442550659], "desired_xyz": [3.61929988861084, 6.431416034698486, 0.965302813053131], "error_m": 0.00027652880022629805} +{"step": 456, "event": "eef_target", "arm": "left", "body_xyz": [0.47532997398390636, 0.26605386535212355, 0.9975985876621141], "world_xyz": [3.61929988861084, 6.431416034698486, 1.0028028130531315], "held": {"left": null, "right": "trash_can_116"}} +{"step": 456, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 456, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5065885325339351, -0.5390945018493192, 0.035363153253395445], [0.5212434525244128, 0.4832875691799908, 0.4109420818567419]]} +{"step": 476, "event": "joint_tracking", "max_error_rad": 0.002837926149368286} +{"step": 476, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.6192128658294678, 6.431520938873291, 1.0025869607925415], "desired_xyz": [3.61929988861084, 6.431416034698486, 1.0028028130531315], "error_m": 0.00025528425092625156} +{"step": 476, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010120.hdf5", "frame": 3040, "arm": "left", "kind": "can"} +{"step": 476, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.6192128658294678, 6.431520938873291, 1.0025869607925415], [-0.43466538190841675, 0.882785439491272, 0.01017221249639988, 0.17791186273097992]], "right": [[4.199938774108887, 6.258793830871582, 0.5486122965812683], [-0.39234113693237305, 0.913286030292511, 0.0943797156214714, 0.055403128266334534]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.126158237457275, 6.339914798736572, 0.3614518940448761], "can__of__soda.n.01_1": [3.5662364959716797, 6.353672027587891, 0.07145720720291138], "can__of__soda.n.01_3": [3.011060953140259, 5.938875675201416, 0.06489182263612747], "ashcan.n.01_1": [4.124492168426514, 6.340324878692627, 0.457325279712677]}, "robot_pose": [[3.5564093589782715, 5.890186309814453, 0.005285188555717468], [-4.37004491686821e-05, 6.857579137431458e-05, 0.45509475469589233, 0.8904430866241455]]}} +{"step": 476, "event": "approach_candidates", "key": "pick:can_of_soda_113", "target": [3.011060953140259, 5.938875675201416], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 476, "event": "primitive_failure", "operation": "pick:can_of_soda_113", "reason": "no_traversable_route", "attempt": 3} +{"step": 476, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_113"} +{"step": 476, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.6192128658294678, 6.431520938873291, 1.0025869607925415], [-0.43466538190841675, 0.882785439491272, 0.01017221249639988, 0.17791186273097992]], "right": [[4.199938774108887, 6.258793830871582, 0.5486122965812683], [-0.39234113693237305, 0.913286030292511, 0.0943797156214714, 0.055403128266334534]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.126158237457275, 6.339914798736572, 0.3614518940448761], "can__of__soda.n.01_1": [3.5662364959716797, 6.353672027587891, 0.07145720720291138], "can__of__soda.n.01_3": [3.011060953140259, 5.938875675201416, 0.06489182263612747], "ashcan.n.01_1": [4.124492168426514, 6.340324878692627, 0.457325279712677]}, "robot_pose": [[3.5564093589782715, 5.890186309814453, 0.005285188555717468], [-4.37004491686821e-05, 6.857579137431458e-05, 0.45509475469589233, 0.8904430866241455]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..c0cbb76af15b84e584dafa0f67ef26af4ce9122d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/484 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.186s] [ext: omni.physics.tensors-107.3.26] startup +[2.189s] [ext: omni.warp.core-1.8.2] startup +[2.295s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.296s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T09:41:25Z [2,277ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.311s] [ext: omni.physx.tensors-107.3.26] startup +[2.317s] [ext: isaacsim.core.utils-3.5.1] startup +[2.320s] [ext: omni.graph.image.core-0.6.1] startup +[2.321s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.395s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.397s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.398s] [ext: isaacsim.core.prims-0.6.1] startup +[2.413s] [ext: omni.syntheticdata-0.6.13] startup +[2.427s] [ext: isaacsim.core.api-4.8.0] startup +[2.436s] [ext: omni.videoencoding-0.1.2] startup +[2.444s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.445s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.449s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.451s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.452s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.456s] [ext: omni.graph.nodes-1.170.10] startup +[2.469s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.472s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.477s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T09:41:25Z [2,445ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.478s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.491s] [ext: omni.warp-1.8.2] startup +[2.497s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.511s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.514s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.536s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.604s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T09:41:26Z [2,599ms] [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 +2026-09-20T09:41:26Z [2,721ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T09:41:26Z [2,721ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T09:41:26Z [2,722ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.758s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.761s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.769s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.787s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T09:41:26Z [2,757ms] [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. +[2.791s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.796s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.864s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.921s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.940s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.971s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T09:41:26Z [2,943ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.007s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.011s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T09:41:26Z [2,997ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.034s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T09:41:26Z [3,008ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.044s] [ext: omni.anim.curve.core-1.3.1] 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. +[3.165s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T09:41:26Z [3,134ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:41:26Z [3,135ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:41:26Z [3,153ms] [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. +[3.186s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.193s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T09:41:26Z [3,160ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.194s] [ext: omni.kit.selection-0.1.6] startup +[3.196s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.200s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T09:41:26Z [3,169ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,169ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,169ms] [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. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:41:26Z [3,170ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.204s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.218s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.232s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.236s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T09:41:26Z [3,205ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.239s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.242s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T09:41:26Z [3,210ms] [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. +2026-09-20T09:41:26Z [3,212ms] [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. +2026-09-20T09:41:26Z [3,212ms] [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. +2026-09-20T09:41:26Z [3,212ms] [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. +2026-09-20T09:41:26Z [3,213ms] [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. +2026-09-20T09:41:26Z [3,213ms] [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. +2026-09-20T09:41:26Z [3,213ms] [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. +2026-09-20T09:41:26Z [3,213ms] [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. +2026-09-20T09:41:26Z [3,215ms] [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. +2026-09-20T09:41:26Z [3,216ms] [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. +2026-09-20T09:41:26Z [3,216ms] [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. +2026-09-20T09:41:26Z [3,216ms] [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. +2026-09-20T09:41:26Z [3,218ms] [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. +2026-09-20T09:41:26Z [3,218ms] [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. +2026-09-20T09:41:26Z [3,218ms] [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. +2026-09-20T09:41:26Z [3,219ms] [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. +[3.253s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T09:41:26Z [3,222ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.256s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T09:41:26Z [3,225ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T09:41:26Z [3,226ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.259s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T09:41:26Z [3,227ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.260s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T09:41:26Z [3,229ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.262s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.268s] [ext: omni.isaac.utils-2.0.6] startup +[3.270s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.277s] [ext: isaacsim.app.about-2.0.11] startup +[3.280s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T09:41:26Z [3,247ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.281s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.282s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T09:41:26Z [3,250ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T09:41:26Z [3,250ms] [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. +2026-09-20T09:41:26Z [3,251ms] [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. +2026-09-20T09:41:26Z [3,251ms] [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. +2026-09-20T09:41:26Z [3,253ms] [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. +2026-09-20T09:41:26Z [3,253ms] [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. +2026-09-20T09:41:26Z [3,253ms] [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. +2026-09-20T09:41:26Z [3,253ms] [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. +2026-09-20T09:41:26Z [3,253ms] [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. +2026-09-20T09:41:26Z [3,254ms] [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. +2026-09-20T09:41:26Z [3,254ms] [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. +2026-09-20T09:41:26Z [3,255ms] [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. +[3.289s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T09:41:26Z [3,264ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T09:41:26Z [3,265ms] [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. +[3.299s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.307s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T09:41:26Z [3,274ms] [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. +[3.308s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.323s] [ext: omni.kit.property.audio-1.0.16] startup +[3.324s] [ext: omni.kit.property.camera-1.0.10] startup +[3.326s] [ext: omni.sensors.net-1.0.0] startup +[3.329s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.334s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.336s] [ext: omni.kit.property.light-1.0.12] startup +[3.372s] [ext: omni.kit.property.material-1.11.9] startup +[3.376s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.378s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.381s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.388s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.394s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.399s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.403s] [ext: omni.kit.property.render-1.2.1] startup +[3.403s] [ext: omni.kit.property.transform-1.5.13] startup +[3.406s] [ext: isaacsim.gui.property-1.1.3] startup +[3.408s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.416s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.423s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.430s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.433s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.435s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T09:41:26Z [3,403ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T09:41:26Z [3,403ms] [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. +[3.436s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T09:41:26Z [3,404ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T09:41:26Z [3,404ms] [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. +[3.437s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.450s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T09:41:26Z [3,417ms] [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. +2026-09-20T09:41:26Z [3,419ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,419ms] [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. +2026-09-20T09:41:26Z [3,420ms] [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. +2026-09-20T09:41:26Z [3,420ms] [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. +2026-09-20T09:41:26Z [3,420ms] [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. +[3.453s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T09:41:26Z [3,422ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.455s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.461s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.471s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.472s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.472s] [ext: omni.ocio-0.1.1] startup +[3.473s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.484s] [ext: omni.kit.window.console-1.1.4] startup +[3.490s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.494s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T09:41:26Z [3,462ms] [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. +[3.495s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.499s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.502s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.512s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T09:41:26Z [3,479ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.513s] [ext: semantics.schema.editor-2.0.2] startup +[3.516s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.517s] [ext: semantics.schema.property-2.0.1] startup +[3.518s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T09:41:26Z [3,486ms] [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. +2026-09-20T09:41:26Z [3,486ms] [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. +2026-09-20T09:41:26Z [3,486ms] [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. +[3.520s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T09:41:26Z [3,488ms] [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. +2026-09-20T09:41:26Z [3,488ms] [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. +2026-09-20T09:41:26Z [3,488ms] [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. +2026-09-20T09:41:26Z [3,488ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.521s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.530s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.535s] [ext: omni.kit.menu.common-2.0.1] startup +[3.537s] [ext: isaacsim.exp.base-5.1.0] startup +[3.538s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.538s] Simulation App Starting +2026-09-20T09:41:27Z [3,649ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T09:41:27Z [3,680ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.752s] app ready +[5.582s] Simulation App Startup Complete +[5.893s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T09:41:29Z [5,961ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T09:41:30Z [6,805ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.508] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.735] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T09:42:30Z [67,426ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:42:33Z [69,565ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T09:42:33Z [69,812ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,812ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,812ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,974ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [69,974ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,053ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,053ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,128ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,128ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:33Z [70,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,847ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,847ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,847ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,874ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,875ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,892ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,892ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,897ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,908ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,908ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,913ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,913ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [70,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,073ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:34Z [71,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:42:35Z [71,522ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:42:35Z [71,522ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:16.443] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:16.486] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T09:42:44Z [80,739ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:25.284] [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. +[00:01:25.287] [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. +2026-09-20T09:42:45Z [81,614ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:42:45Z [81,616ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:42:45Z [81,617ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:42:45Z [81,618ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:42:48Z [84,578ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T09:42:59Z [96,309ms] [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 +2026-09-20T09:43:11Z [108,192ms] [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 +2026-09-20T09:43:18Z [115,153ms] [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 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 recover_and_reobserve {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-20T09:50:09Z [526,256ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:50:09Z [526,256ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:50:09Z [526,256ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[526.390s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..91b0b36d940e4684f936cf825d3fd04436581d0e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba405f10c913b17d50386eff9ca9e987e25fff1ae2e8f152cf4fabed89dff1b1 +size 612 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5770102e435d16c2da3f2779e22096874a5f7042 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7fe506327dcb9ad029ed76f046ee501cba2a15df21a8b2caf085fa5215fc5b1 +size 7661141 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..066ef86da3773b8c545d23962df435b7b27d3ff7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c2ddfa9d6b50d7dc017b122ea97a77f849d966d186e9afbaf85bf3790928635 +size 823358 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/case.json new file mode 100644 index 0000000000000000000000000000000000000000..7dca0a3a34f4c2787875d4e6d6fc8d9fbcf61159 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/case.json @@ -0,0 +1,16 @@ +{ + "case_id": "vla-episode_00019370-f010536", + "kind": "vla", + "episode_id": "00019370", + "instance_id": 937, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019370.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019370.json", + "frame": 10536, + "start_type": "terminal_state", + "chunk_index": null, + "chunk_span": null, + "reason": "no judgement seed; start from final recorded state" +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5b4d2d5be62b2c9aafc3475a0c3735e940133b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019370-f010536/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019370-f010536", + "episode_id": "00019370", + "instance_id": 937, + "start_type": "terminal_state", + "source_frame": 10536, + "attempt": "attempt_001", + "completed_at": "2026-09-20T09:50:50+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 484, + "dataset_frames": 484, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019370-f010536/attempt_001/dataset", + "video": "runs/vla-episode_00019370-f010536/attempt_001/video.mp4", + "initial_inside": 1, + "final_inside": 1, + "initial_held": { + "left": null, + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 30 +} diff --git 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{ + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 61 + ], + "names": [ + null + ] + }, + "observation.robot2cam_pose.left_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + 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At f3823 robot had collected 2 of 3 cans and still held trash_can_116 in right hand\u2014correct state to continue collection. At f3824 began placing trash can back instead, premature since task requires all three cans inside first. Seed at moment plan diverged. Right hand occupied so left must collect can_114." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99098616c95b35f25dbc57e90ec9784202f0b650 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/events.jsonl @@ -0,0 +1,189 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, -0.9294877497864833, 0.31798267671692537, 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"rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0475091461840611, "held_worst_rejected_m": null, "base_box_body": [[-0.509504204531276, -0.5275177502197874, 0.035361991769309424], [0.5375708714917822, 0.5193725806394545, 0.41094617650874354]]} +{"step": 1651, "event": "joint_tracking", "max_error_rad": 0.006862759590148926} +{"step": 1651, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.0383598804473877, 4.828147888183594, 0.4488774538040161], "desired_xyz": [3.03598552942276, 4.830275297164917, 0.4400309878587724], "error_m": 0.009403370219358675} +{"step": 1651, "event": "eef_target", "arm": "left", "body_xyz": [0.6440951309814804, 0.2630498829771123, 0.3841894176587295], "world_xyz": [3.029906964302063, 4.829573631286621, 0.3959625313282011], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1651, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1651, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.049828696441245546, "held_worst_rejected_m": null, "base_box_body": [[-0.5100349009320534, -0.5286070554200883, 0.028614407779960375], [0.5385880064094551, 0.5212568060726239, 0.41516028053036147]]} +{"step": 1666, "event": "joint_tracking", "max_error_rad": 0.010264992713928223} +{"step": 1674, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.039935350418091, 4.80526065826416, 0.4451351761817932], "desired_xyz": [3.029906964302063, 4.829573631286621, 0.3959625313282011], "error_m": 0.055764129932964535} +{"step": 1674, "event": "blocked_contact_pairs", "arm": "left", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1", "body1": "/World/scene_0/coffee_table_koagbh_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}], "actual_q": [-4.270595550537109, -0.043159119784832, 0.02298651821911335, 0.03216071426868439, 0.06489180028438568, 1.4926502704620361, 1.2806892395019531, -1.9365986585617065, -1.1412467956542969, -0.3349955379962921, -0.3176576495170593, -1.1047775745391846, 0.4132189154624939, -0.26086485385894775, 0.0632455050945282, 0.6892299652099609, -1.2160216569900513, -0.505082368850708, 0.5991688370704651, 0.0453621931374073, 0.8345255255699158, 0.9249073266983032, 0.13592460751533508, 0.22361211478710175, 0.049997713416814804, 0.05000000074505806, 0.005249580834060907, 0.0005325409583747387]} +{"step": 1674, "event": "actions_rejected", "start": 1576, "end": 1674, "reason": "eef_execution_blocked"} +{"step": 1674, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 2} +{"step": 1674, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.039935350418091, 4.80526065826416, 0.4451351761817932], [-0.4002150893211365, 0.9049564599990845, 0.023197194561362267, 0.1426314264535904]], "right": [[3.6083736419677734, 4.170241355895996, 0.5395871996879578], [-0.4730099141597748, 0.850523054599762, -0.2125481516122818, 0.08772440999746323]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [3.6352579593658447, 4.163049697875977, 0.34341123700141907], "can__of__soda.n.01_1": [3.559519052505493, 4.162315368652344, 0.32497528195381165], "can__of__soda.n.01_2": [3.0056891441345215, 4.826497554779053, 0.07145726680755615], "ashcan.n.01_1": [3.573338508605957, 4.16782808303833, 0.38586023449897766]}, "robot_pose": [[2.774092674255371, 4.18508243560791, 0.017647594213485718], [0.037584349513053894, -0.004046942573040724, 0.39363494515419006, 0.918489396572113]]}} +{"step": 1682, "event": "primitive_start", "operation": "pick:can_of_soda_114", "attempt": 3} +{"step": 1690, "event": "stage", "name": "clear_failed_grasp_before_navigation", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.039734125137329, 4.805824279785156, 0.44505196809768677], [-0.39959484338760376, 0.905232310295105, 0.0236218199133873, 0.1425497680902481]], "right": [[3.607661247253418, 4.1711249351501465, 0.5394219756126404], [-0.47333037853240967, 0.8507429361343384, -0.21118050813674927, 0.0871640220284462]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [3.6340949535369873, 4.164289474487305, 0.3431791067123413], "can__of__soda.n.01_1": [3.5583183765411377, 4.163562297821045, 0.3249228596687317], "can__of__soda.n.01_2": [3.0056891441345215, 4.826497554779053, 0.07145726680755615], "ashcan.n.01_1": [3.5722780227661133, 4.168964862823486, 0.38578709959983826]}, "robot_pose": [[2.7740895748138428, 4.185092449188232, 0.01755356788635254], [0.03730303794145584, -0.004016848746687174, 0.3936399817466736, 0.9184988737106323]]}} +{"step": 1690, "event": "eef_target", "arm": "left", "body_xyz": [0.6490735215552147, 0.26485901059173145, 0.42503154348372385], "world_xyz": [3.039734125137329, 4.805824279785156, 0.4825519680976866], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1690, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1690, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.066458296720454, "held_worst_rejected_m": null, "base_box_body": [[-0.5140456572140858, -0.5358854300715984, -0.018864266517878963], [0.5450927273097613, 0.5329014691649567, 0.4444964244037407]]} +{"step": 1710, "event": "joint_tracking", "max_error_rad": 0.0015684515237808228} +{"step": 1718, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.0337960720062256, 4.828858375549316, 0.4472130239009857], "desired_xyz": [3.039734125137329, 4.805824279785156, 0.4825519680976866], "error_m": 0.042598955616280625} +{"step": 1718, "event": "blocked_contact_pairs", "arm": "left", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1", "body1": "/World/scene_0/coffee_table_koagbh_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}], "actual_q": [-4.270912170410156, -0.04287321865558624, 0.014405185356736183, 0.00299332058057189, 0.02146266959607601, 1.4930957555770874, 1.2541589736938477, -1.891494631767273, -1.1072885990142822, -0.2903221845626831, -0.3459794819355011, -1.0899639129638672, 0.3937334716320038, -0.29267165064811707, 0.04136870801448822, 0.6865688562393188, -1.2578709125518799, -0.47407248616218567, 0.5970720052719116, 0.04038204252719879, 0.9037739634513855, 0.912850022315979, 0.1525000035762787, 0.2419828176498413, 0.04999811574816704, 0.04999981075525284, 0.005237676203250885, 0.0005331255961209536]} +{"step": 1718, "event": "actions_rejected", "start": 1690, "end": 1718, "reason": "eef_execution_blocked"} +{"step": 1718, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 3} +{"step": 1718, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_114"} +{"step": 1718, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.0337960720062256, 4.828858375549316, 0.4472130239009857], [-0.40249672532081604, 0.9046275019645691, -0.0014590612845495343, 0.14015457034111023]], "right": [[3.5994434356689453, 4.197271823883057, 0.5469248294830322], [-0.4765208661556244, 0.8452686071395874, -0.23104724287986755, 0.07117696106433868]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [3.6241464614868164, 4.180294513702393, 0.3510601818561554], "can__of__soda.n.01_1": [3.5482113361358643, 4.178608417510986, 0.33353638648986816], "can__of__soda.n.01_2": [3.0056891441345215, 4.826497554779053, 0.07145726680755615], "ashcan.n.01_1": [3.562702178955078, 4.187161922454834, 0.39391735196113586]}, "robot_pose": [[2.774095296859741, 4.185558795928955, 0.009068980813026428], [0.01159859448671341, -0.0012076972052454948, 0.3935168981552124, 0.9192433953285217]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..346dbaafcf607709aeb76a9b6897cd9aa9ad2759 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1726 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.012s] [ext: omni.physics.tensors-107.3.26] startup +[2.015s] [ext: omni.warp.core-1.8.2] startup +[2.122s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.124s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T09:50:26Z [2,111ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.139s] [ext: omni.physx.tensors-107.3.26] startup +[2.144s] [ext: isaacsim.core.utils-3.5.1] startup +[2.147s] [ext: omni.graph.image.core-0.6.1] startup +[2.149s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.223s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.225s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.226s] [ext: isaacsim.core.prims-0.6.1] startup +[2.241s] [ext: omni.syntheticdata-0.6.13] startup +[2.252s] [ext: isaacsim.core.api-4.8.0] startup +[2.273s] [ext: omni.videoencoding-0.1.2] startup +[2.277s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.278s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.282s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.284s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.284s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.290s] [ext: omni.graph.nodes-1.170.10] startup +[2.302s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.305s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.308s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T09:50:26Z [2,281ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.308s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.321s] [ext: omni.warp-1.8.2] startup +[2.327s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.342s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.345s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.375s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.448s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T09:50:26Z [2,446ms] [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 +2026-09-20T09:50:26Z [2,547ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T09:50:26Z [2,547ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T09:50:26Z [2,547ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.576s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.580s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.584s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.591s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T09:50:26Z [2,566ms] [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. +[2.593s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.604s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.635s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.651s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.663s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.671s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T09:50:26Z [2,651ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.697s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.701s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T09:50:26Z [2,682ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.721s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T09:50:26Z [2,697ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.727s] [ext: omni.anim.curve.core-1.3.1] startup +[2.801s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T09:50:26Z [2,804ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:50:26Z [2,806ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:50:26Z [2,871ms] [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. +[2.914s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.999s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T09:50:26Z [2,973ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.000s] [ext: omni.kit.selection-0.1.6] startup +[3.003s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.012s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T09:50:26Z [2,986ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,986ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,986ms] [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. +2026-09-20T09:50:26Z [2,987ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:50:26Z [2,988ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.016s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.029s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.051s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.059s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T09:50:27Z [3,034ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.062s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.071s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T09:50:27Z [3,048ms] [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. +2026-09-20T09:50:27Z [3,048ms] [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. +2026-09-20T09:50:27Z [3,050ms] [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. +2026-09-20T09:50:27Z [3,050ms] [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. +2026-09-20T09:50:27Z [3,054ms] [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. +2026-09-20T09:50:27Z [3,055ms] [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. +2026-09-20T09:50:27Z [3,055ms] [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. +2026-09-20T09:50:27Z [3,055ms] [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. +2026-09-20T09:50:27Z [3,057ms] [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. +2026-09-20T09:50:27Z [3,057ms] [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. +2026-09-20T09:50:27Z [3,058ms] [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. +2026-09-20T09:50:27Z [3,058ms] [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. +2026-09-20T09:50:27Z [3,058ms] [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. +2026-09-20T09:50:27Z [3,058ms] [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. +2026-09-20T09:50:27Z [3,059ms] [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. +2026-09-20T09:50:27Z [3,059ms] [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. +[3.086s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T09:50:27Z [3,061ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.088s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T09:50:27Z [3,063ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T09:50:27Z [3,064ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.092s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T09:50:27Z [3,066ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.093s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T09:50:27Z [3,069ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.097s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.102s] [ext: omni.isaac.utils-2.0.6] startup +[3.104s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.113s] [ext: isaacsim.app.about-2.0.11] startup +[3.116s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T09:50:27Z [3,090ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.117s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.118s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T09:50:27Z [3,092ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T09:50:27Z [3,092ms] [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. +2026-09-20T09:50:27Z [3,092ms] [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. +2026-09-20T09:50:27Z [3,093ms] [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. +2026-09-20T09:50:27Z [3,093ms] [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. +2026-09-20T09:50:27Z [3,093ms] [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. +2026-09-20T09:50:27Z [3,094ms] [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. +2026-09-20T09:50:27Z [3,094ms] [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. +2026-09-20T09:50:27Z [3,094ms] [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. +2026-09-20T09:50:27Z [3,094ms] [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. +2026-09-20T09:50:27Z [3,095ms] [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. +2026-09-20T09:50:27Z [3,095ms] [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. +[3.122s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T09:50:27Z [3,099ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T09:50:27Z [3,099ms] [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. +[3.127s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.132s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T09:50:27Z [3,106ms] [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. +[3.133s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.139s] [ext: omni.kit.property.audio-1.0.16] startup +[3.141s] [ext: omni.kit.property.camera-1.0.10] startup +[3.142s] [ext: omni.sensors.net-1.0.0] startup +[3.144s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.147s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.149s] [ext: omni.kit.property.light-1.0.12] startup +[3.187s] [ext: omni.kit.property.material-1.11.9] startup +[3.191s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.193s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.195s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.199s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.206s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.210s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.214s] [ext: omni.kit.property.render-1.2.1] startup +[3.215s] [ext: omni.kit.property.transform-1.5.13] startup +[3.218s] [ext: isaacsim.gui.property-1.1.3] startup +[3.219s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.224s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.230s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.236s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.240s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.241s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T09:50:27Z [3,215ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T09:50:27Z [3,216ms] [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. +[3.243s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T09:50:27Z [3,216ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T09:50:27Z [3,216ms] [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. +[3.244s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.261s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,237ms] [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. +2026-09-20T09:50:27Z [3,238ms] [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. +2026-09-20T09:50:27Z [3,238ms] [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. +2026-09-20T09:50:27Z [3,238ms] [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. +[3.265s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T09:50:27Z [3,241ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.268s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.281s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.287s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.289s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.292s] [ext: omni.ocio-0.1.1] startup +[3.295s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.314s] [ext: omni.kit.window.console-1.1.4] startup +[3.321s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.328s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T09:50:27Z [3,302ms] [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. +[3.329s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.337s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.342s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.357s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T09:50:27Z [3,332ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.359s] [ext: semantics.schema.editor-2.0.2] startup +[3.364s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.367s] [ext: semantics.schema.property-2.0.1] startup +[3.369s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T09:50:27Z [3,343ms] [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. +2026-09-20T09:50:27Z [3,343ms] [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. +2026-09-20T09:50:27Z [3,344ms] [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. +[3.371s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T09:50:27Z [3,346ms] [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. +2026-09-20T09:50:27Z [3,346ms] [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. +2026-09-20T09:50:27Z [3,347ms] [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. +2026-09-20T09:50:27Z [3,347ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.374s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.389s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.399s] [ext: omni.kit.menu.common-2.0.1] startup +[3.401s] [ext: isaacsim.exp.base-5.1.0] startup +[3.402s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.404s] Simulation App Starting +2026-09-20T09:50:27Z [3,490ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T09:50:27Z [3,517ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-09-20T09:50:27Z [3,531ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-09-20T09:50:27Z [3,531ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-09-20T09:50:27Z [3,531ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +[3.569s] app ready +[5.402s] Simulation App Startup Complete +[5.777s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T09:50:29Z [5,899ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T09:50:30Z [6,846ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.514] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.651] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T09:51:19Z [55,875ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:51:21Z [57,922ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T09:51:22Z [58,149ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,304ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,304ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,374ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,374ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,441ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,441ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,441ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,441ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:22Z [58,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,107ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,107ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,108ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,108ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,136ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,136ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,154ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,154ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,164ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,164ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,175ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,175ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,180ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,181ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,323ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,323ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,632ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,632ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:51:23Z [59,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:04.566] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:04.605] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T09:51:32Z [68,377ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:13.007] [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. +[00:01:13.009] [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. +2026-09-20T09:51:33Z [69,371ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:51:33Z [69,372ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:51:33Z [69,373ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:51:33Z [69,374ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:51:35Z [72,019ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T09:51:40Z [76,604ms] [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 +2026-09-20T09:51:45Z [81,788ms] [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 +2026-09-20T09:51:51Z [87,759ms] [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_3': True, 'can__of__soda.n.01_1': 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_3': True, 'can__of__soda.n.01_1': 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_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 transport_posture {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 transport_posture {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 recover_and_reobserve {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 transport_posture {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 recover_and_reobserve {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-20T10:00:56Z [632,201ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:00:56Z [632,201ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:00:56Z [632,201ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[632.329s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..a48f8d2ed286ab2a88c4f31eccb21852f026f6fb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d47a31f7d65c125c8b5073ecc2ec6c0c6bb5654fa25241a9e2ef800beb024931 +size 1854 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..477fa89982ac33ff628f75d09b9eb10bb212c83c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/case.json new file mode 100644 index 0000000000000000000000000000000000000000..343f0626fb5f01723b16900d2171682729f86d47 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003824/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019380-f003824", + "kind": "vla", + "episode_id": "00019380", + "instance_id": 938, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019380.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019380.json", + "frame": 3824, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 3824, + 3972 + ], + "reason": "Ordering failure. 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{ + "case_id": "vla-episode_00019380-f003973", + "kind": "vla", + "episode_id": "00019380", + "instance_id": 938, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019380.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019380.json", + "frame": 3973, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 3973, + 10535 + ], + "reason": "Ordering failure continued. 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Seed at first frame both hands free; either arm available since both empty." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e7635166cdd009a2bf468eee01547889572715 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/events.jsonl @@ -0,0 +1,274 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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+{"step": 1984, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 3} +{"step": 1984, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_114"} +{"step": 1984, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false, "can__of__soda.n.01_3": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[2.981320858001709, 4.730938911437988, 0.44075506925582886], [-0.41456469893455505, 0.9064563512802124, 0.025200381875038147, 0.07640684396028519]], "right": [[3.3499698638916016, 4.232170104980469, 0.43292248249053955], [-0.362665057182312, 0.9261195659637451, -0.10243771225214005, 0.016830401495099068]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [3.2169671058654785, 4.299424171447754, 0.25313031673431396], "can__of__soda.n.01_2": [3.005695104598999, 4.826498985290527, 0.07145734131336212], "can__of__soda.n.01_3": [3.2841548919677734, 4.264571189880371, 0.242178276181221], "ashcan.n.01_1": [3.2590456008911133, 4.29043436050415, 0.30853205919265747]}, "robot_pose": [[2.761214017868042, 4.195509910583496, 0.02412554621696472], [0.056784287095069885, -0.006963321939110756, 0.3801995813846588, 0.9231334328651428]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..35bde4df83b840cd274c77df6c473e7c8cedd147 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1992 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.972s] [ext: omni.physics.tensors-107.3.26] startup +[1.978s] [ext: omni.warp.core-1.8.2] startup +[2.153s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.155s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T14:38:10Z [2,150ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.161s] [ext: omni.physx.tensors-107.3.26] startup +[2.166s] [ext: isaacsim.core.utils-3.5.1] startup +[2.169s] [ext: omni.graph.image.core-0.6.1] startup +[2.171s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.249s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.250s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.253s] [ext: isaacsim.core.prims-0.6.1] startup +[2.268s] [ext: omni.syntheticdata-0.6.13] startup +[2.279s] [ext: isaacsim.core.api-4.8.0] startup +[2.298s] [ext: omni.videoencoding-0.1.2] startup +[2.301s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.303s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.307s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.308s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.308s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.313s] [ext: omni.graph.nodes-1.170.10] startup +[2.322s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.326s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.331s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T14:38:10Z [2,321ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.332s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.349s] [ext: omni.warp-1.8.2] startup +[2.356s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.379s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.381s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.412s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.467s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T14:38:10Z [2,476ms] [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 +2026-09-21T14:38:10Z [2,578ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T14:38:10Z [2,578ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T14:38:10Z [2,579ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.591s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.592s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.597s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.605s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T14:38:10Z [2,596ms] [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. +[2.607s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.611s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.713s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.746s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.777s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.801s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T14:38:10Z [2,794ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.847s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.863s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T14:38:10Z [2,862ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.886s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T14:38:10Z [2,911ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.927s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.977s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T14:38:11Z [2,967ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:38:11Z [2,967ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:38:11Z [2,982ms] [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. +[2.992s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.007s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T14:38:11Z [2,997ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.009s] [ext: omni.kit.selection-0.1.6] startup +[3.013s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.020s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T14:38:11Z [3,010ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,011ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,012ms] [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. +2026-09-21T14:38:11Z [3,014ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:38:11Z [3,015ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.026s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.041s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.051s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.060s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T14:38:11Z [3,051ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.063s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.072s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T14:38:11Z [3,063ms] [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. +2026-09-21T14:38:11Z [3,063ms] [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. +2026-09-21T14:38:11Z [3,064ms] [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. +2026-09-21T14:38:11Z [3,064ms] [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. +2026-09-21T14:38:11Z [3,064ms] [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. +2026-09-21T14:38:11Z [3,064ms] [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. +2026-09-21T14:38:11Z [3,064ms] [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. +2026-09-21T14:38:11Z [3,066ms] [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. +2026-09-21T14:38:11Z [3,066ms] [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. +2026-09-21T14:38:11Z [3,066ms] [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. +2026-09-21T14:38:11Z [3,067ms] [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. +2026-09-21T14:38:11Z [3,067ms] [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. +2026-09-21T14:38:11Z [3,067ms] [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. +2026-09-21T14:38:11Z [3,068ms] [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. +2026-09-21T14:38:11Z [3,068ms] [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. +2026-09-21T14:38:11Z [3,068ms] [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. +[3.080s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T14:38:11Z [3,071ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.084s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T14:38:11Z [3,076ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T14:38:11Z [3,076ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.087s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T14:38:11Z [3,078ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.090s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T14:38:11Z [3,082ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.093s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.098s] [ext: omni.isaac.utils-2.0.6] startup +[3.100s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.109s] [ext: isaacsim.app.about-2.0.11] startup +[3.111s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T14:38:11Z [3,106ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.120s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.122s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T14:38:11Z [3,114ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T14:38:11Z [3,114ms] [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. +2026-09-21T14:38:11Z [3,114ms] [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. +2026-09-21T14:38:11Z [3,115ms] [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. +2026-09-21T14:38:11Z [3,115ms] [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. +2026-09-21T14:38:11Z [3,115ms] [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. +2026-09-21T14:38:11Z [3,116ms] [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. +2026-09-21T14:38:11Z [3,117ms] [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. +2026-09-21T14:38:11Z [3,117ms] [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. +2026-09-21T14:38:11Z [3,117ms] [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. +2026-09-21T14:38:11Z [3,118ms] [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. +2026-09-21T14:38:11Z [3,120ms] [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. +[3.132s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T14:38:11Z [3,134ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T14:38:11Z [3,134ms] [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. +[3.146s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.161s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T14:38:11Z [3,151ms] [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. +[3.162s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.177s] [ext: omni.kit.property.audio-1.0.16] startup +[3.178s] [ext: omni.kit.property.camera-1.0.10] startup +[3.180s] [ext: omni.sensors.net-1.0.0] startup +[3.182s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.185s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.187s] [ext: omni.kit.property.light-1.0.12] startup +[3.228s] [ext: omni.kit.property.material-1.11.9] startup +[3.233s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.234s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.236s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.240s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.246s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.250s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.254s] [ext: omni.kit.property.render-1.2.1] startup +[3.255s] [ext: omni.kit.property.transform-1.5.13] startup +[3.258s] [ext: isaacsim.gui.property-1.1.3] startup +[3.260s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.265s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.270s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.278s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.284s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.292s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T14:38:11Z [3,284ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T14:38:11Z [3,284ms] [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. +[3.294s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T14:38:11Z [3,285ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T14:38:11Z [3,285ms] [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. +[3.296s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.310s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T14:38:11Z [3,302ms] [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. +2026-09-21T14:38:11Z [3,302ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T14:38:11Z [3,302ms] [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. +2026-09-21T14:38:11Z [3,303ms] [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. +2026-09-21T14:38:11Z [3,303ms] [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. +2026-09-21T14:38:11Z [3,303ms] [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. +2026-09-21T14:38:11Z [3,303ms] [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. +2026-09-21T14:38:11Z [3,304ms] [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. +2026-09-21T14:38:11Z [3,305ms] [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. +2026-09-21T14:38:11Z [3,306ms] [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. +2026-09-21T14:38:11Z [3,306ms] [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. +[3.317s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T14:38:11Z [3,308ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.319s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.332s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.336s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.338s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.340s] [ext: omni.ocio-0.1.1] startup +[3.344s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.359s] [ext: omni.kit.window.console-1.1.4] startup +[3.365s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.369s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T14:38:11Z [3,359ms] [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. +[3.370s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.376s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.382s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.395s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T14:38:11Z [3,385ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.396s] [ext: semantics.schema.editor-2.0.2] startup +[3.401s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.403s] [ext: semantics.schema.property-2.0.1] startup +[3.404s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T14:38:11Z [3,394ms] [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. +2026-09-21T14:38:11Z [3,394ms] [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. +2026-09-21T14:38:11Z [3,395ms] [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. +[3.406s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T14:38:11Z [3,397ms] [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. +2026-09-21T14:38:11Z [3,397ms] [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. +2026-09-21T14:38:11Z [3,397ms] [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. +2026-09-21T14:38:11Z [3,397ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.408s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.419s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.426s] [ext: omni.kit.menu.common-2.0.1] startup +[3.428s] [ext: isaacsim.exp.base-5.1.0] startup +[3.429s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.431s] Simulation App Starting +2026-09-21T14:38:11Z [3,689ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.734s] app ready +[5.645s] Simulation App Startup Complete +[5.966s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T14:38:14Z [6,067ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T14:38:15Z [6,928ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.541] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.032] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T14:39:08Z [60,146ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:39:10Z [62,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,533ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,533ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,598ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,598ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,598ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,598ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,626ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,626ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,659ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,660ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,660ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,660ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:10Z [62,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,289ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,289ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,306ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,306ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,310ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,310ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,315ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,315ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,325ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,325ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,753ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,840ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:39:11Z [63,840ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:39:12Z [64,653ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:08.539] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:08.577] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T14:39:20Z [72,186ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:16.467] [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. +[00:01:16.469] [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. +2026-09-21T14:39:20Z [72,886ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:39:20Z [72,887ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:39:20Z [72,888ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:39:20Z [72,889ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:39:23Z [75,378ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T14:39:37Z [89,433ms] [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 navigate_to_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +2026-09-21T14:41:50Z [222,255ms] [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 +RECOVERY progress 480 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'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': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 carry_pose_fallback_lift {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 recover_and_reobserve {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T14:50:14Z [726,025ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:50:14Z [726,025ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:50:14Z [726,025ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[726.121s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..897d1ee41fbbb8d8fe232d432af98e3f214efa4a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a946e7205e7243b024b3202c5aa67a840a8f968e8e26db230d23021598c2e19b +size 2120 diff --git 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5b1a0f57938e13f2fb0c14a9814a4c4d38c9b9d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29ca7063641dbaed31251a5e0848b2ca91f5578665ea46480607f826791ac3b0 +size 4799868 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/case.json new file mode 100644 index 0000000000000000000000000000000000000000..c0878f71cbc0a71b13f23676511b6bbf804d2811 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019380-f003973", + "kind": "vla", + "episode_id": "00019380", + "instance_id": 938, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019380.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019380.json", + "frame": 3973, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 3973, + 10535 + ], + "reason": "Ordering failure continued. Both grippers empty from f3973 onward (trash_can released at f3972). Robot navigates f4000-f7000 but never grasps anything; both wrist views show empty grippers throughout. Should be collecting can_114. Seed at first frame both hands free; either arm available since both empty." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..a80e1b8986e12165fe6b99edfeb2d1f916c61123 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019380-f003973/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019380-f003973", + "episode_id": "00019380", + "instance_id": 938, + "start_type": "judgement_seed", + "source_frame": 3973, + "attempt": "attempt_001", + "completed_at": "2026-09-21T14:51:35+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 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Correct next action is to pick up can_113 from the living-room floor with the left hand while keeping the trash can in the right (mirroring the successful pattern used for can_115 and can_114)" + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9baa64f00eca74727e9bae42f3c9e4083fa2f041 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/events.jsonl @@ -0,0 +1,80 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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6.778760650017528e-05} +{"step": 238, "event": "eef_target", "arm": "left", "body_xyz": [0.6259686066671184, 0.24027577810250805, 0.7502688404053396], "world_xyz": [4.316239356994629, 5.749125957489014, 0.7554499983787533], "held": {"left": null, "right": "trash_can_116"}} +{"step": 238, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 238, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4465998311998131, -0.3861793935427264, 0.03536829444118083], [0.3187805972694253, 0.41828089235063637, 0.4109150381930195]]} +{"step": 258, "event": "joint_tracking", "max_error_rad": 0.005095839500427246} +{"step": 258, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.316226005554199, 5.749155521392822, 0.7553537487983704], "desired_xyz": [4.316239356994629, 5.749125957489014, 0.7554499983787533], "error_m": 0.00010156902625227741} +{"step": 258, "event": "eef_target", "arm": "left", "body_xyz": [0.6259621488522202, 0.24027560873517184, 0.7877690819747937], "world_xyz": [4.316239356994629, 5.749125957489014, 0.7929499983787535], "held": {"left": null, "right": "trash_can_116"}} +{"step": 258, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 258, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4465993027845197, -0.38617921030780916, 0.035368093952125465], [0.31877989805803875, 0.41828058993873796, 0.4109152132389366]]} +{"step": 278, "event": "joint_tracking", "max_error_rad": 0.004767566919326782} +{"step": 278, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.316225528717041, 5.749155521392822, 0.7928557395935059], "desired_xyz": [4.316239356994629, 5.749125957489014, 0.7929499983787535], "error_m": 9.974950759680603e-05} +{"step": 278, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010210.hdf5", "frame": 4607, "arm": "left", "kind": "can"} +{"step": 278, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_3": false, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.316225528717041, 5.749155521392822, 0.7928557395935059], [-0.706157386302948, 0.5619563460350037, 0.08465498685836792, 0.4223509728908539]], "right": [[4.9074907302856445, 5.778627872467041, 0.49194392561912537], [-0.749748706817627, 0.632340669631958, 0.15507520735263824, 0.11821097880601883]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [2.6301846504211426, 5.091983795166016, 0.06461405754089355], "can__of__soda.n.01_1": [4.814148426055908, 5.767584323883057, 0.3039831817150116], "can__of__soda.n.01_2": [4.841945648193359, 5.805761814117432, 0.4022411108016968], "ashcan.n.01_1": [4.8138041496276855, 5.768961429595947, 0.3719104528427124]}, "robot_pose": [[4.6454668045043945, 5.164887428283691, 0.00528523325920105], [-6.56861811876297e-05, 4.7211167839122936e-05, 0.7570273876190186, 0.6533832550048828]]}} +{"step": 278, "event": "approach_candidates", "key": "pick:can_of_soda_113", "target": [2.6301846504211426, 5.091983795166016], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 278, "event": "primitive_failure", "operation": "pick:can_of_soda_113", "reason": "no_traversable_route", "attempt": 3} +{"step": 278, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_113"} +{"step": 278, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": false, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.316225528717041, 5.749155521392822, 0.7928557395935059], [-0.706157386302948, 0.5619563460350037, 0.08465498685836792, 0.4223509728908539]], "right": [[4.9074907302856445, 5.778627872467041, 0.49194392561912537], [-0.749748706817627, 0.632340669631958, 0.15507520735263824, 0.11821097880601883]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [2.6301846504211426, 5.091983795166016, 0.06461405754089355], "can__of__soda.n.01_1": [4.814148426055908, 5.767584323883057, 0.3039831817150116], "can__of__soda.n.01_2": [4.841945648193359, 5.805761814117432, 0.4022411108016968], "ashcan.n.01_1": [4.8138041496276855, 5.768961429595947, 0.3719104528427124]}, "robot_pose": [[4.6454668045043945, 5.164887428283691, 0.00528523325920105], [-6.56861811876297e-05, 4.7211167839122936e-05, 0.7570273876190186, 0.6533832550048828]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..17c24ad70beec3c90649a14a25bb1a0a8b77e09c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/286 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.904s] [ext: omni.physics.tensors-107.3.26] startup +[1.908s] [ext: omni.warp.core-1.8.2] startup +[2.012s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.014s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T09:53:56Z [1,966ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.019s] [ext: omni.physx.tensors-107.3.26] startup +[2.024s] [ext: isaacsim.core.utils-3.5.1] startup +[2.027s] [ext: omni.graph.image.core-0.6.1] startup +[2.028s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.100s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.103s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.104s] [ext: isaacsim.core.prims-0.6.1] startup +[2.119s] [ext: omni.syntheticdata-0.6.13] startup +[2.129s] [ext: isaacsim.core.api-4.8.0] startup +[2.141s] [ext: omni.videoencoding-0.1.2] startup +[2.144s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.145s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.147s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.148s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.148s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.152s] [ext: omni.graph.nodes-1.170.10] startup +[2.160s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.162s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.165s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T09:53:56Z [2,112ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.166s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.171s] [ext: omni.warp-1.8.2] startup +[2.175s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.188s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.196s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.236s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.276s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T09:53:56Z [2,241ms] [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 +2026-09-20T09:53:56Z [2,309ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T09:53:56Z [2,309ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T09:53:56Z [2,309ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.364s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.367s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.371s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.380s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T09:53:56Z [2,327ms] [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. +[2.381s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.387s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.405s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.414s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.420s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.422s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T09:53:56Z [2,375ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.434s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.436s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T09:53:56Z [2,393ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.461s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T09:53:56Z [2,410ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.464s] [ext: omni.anim.curve.core-1.3.1] startup +[2.564s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T09:53:56Z [2,534ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:53:56Z [2,546ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T09:53:56Z [2,617ms] [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. +[2.671s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.735s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T09:53:56Z [2,683ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.737s] [ext: omni.kit.selection-0.1.6] startup +[2.742s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.748s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T09:53:56Z [2,696ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,696ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,696ms] [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. +2026-09-20T09:53:56Z [2,697ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,698ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,699ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,700ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,700ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,700ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T09:53:56Z [2,700ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.754s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.773s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.790s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.799s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T09:53:56Z [2,747ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.802s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.810s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T09:53:56Z [2,760ms] [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. +2026-09-20T09:53:56Z [2,761ms] [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. +2026-09-20T09:53:56Z [2,763ms] [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. +2026-09-20T09:53:56Z [2,763ms] [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. +2026-09-20T09:53:56Z [2,764ms] [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. +2026-09-20T09:53:56Z [2,765ms] [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. +2026-09-20T09:53:56Z [2,765ms] [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. +2026-09-20T09:53:56Z [2,766ms] [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. +2026-09-20T09:53:56Z [2,766ms] [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. +2026-09-20T09:53:56Z [2,766ms] [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. +2026-09-20T09:53:56Z [2,767ms] [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. +2026-09-20T09:53:56Z [2,767ms] [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. +2026-09-20T09:53:56Z [2,767ms] [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. +2026-09-20T09:53:56Z [2,767ms] [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. +2026-09-20T09:53:56Z [2,768ms] [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. +2026-09-20T09:53:56Z [2,768ms] [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. +[2.822s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T09:53:56Z [2,770ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.825s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T09:53:56Z [2,774ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T09:53:56Z [2,775ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.830s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T09:53:56Z [2,777ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.832s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T09:53:56Z [2,780ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.836s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.843s] [ext: omni.isaac.utils-2.0.6] startup +[2.846s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.865s] [ext: isaacsim.app.about-2.0.11] startup +[2.868s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T09:53:56Z [2,822ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.876s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.878s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T09:53:56Z [2,827ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T09:53:56Z [2,827ms] [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. +2026-09-20T09:53:56Z [2,827ms] [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. +2026-09-20T09:53:56Z [2,828ms] [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. +2026-09-20T09:53:56Z [2,828ms] [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. +2026-09-20T09:53:56Z [2,829ms] [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. +2026-09-20T09:53:56Z [2,829ms] [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. +2026-09-20T09:53:56Z [2,829ms] [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. +2026-09-20T09:53:56Z [2,829ms] [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. +2026-09-20T09:53:56Z [2,830ms] [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. +2026-09-20T09:53:56Z [2,831ms] [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. +2026-09-20T09:53:56Z [2,833ms] [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. +[2.887s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T09:53:56Z [2,849ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T09:53:56Z [2,849ms] [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. +[2.904s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.914s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T09:53:56Z [2,861ms] [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. +[2.915s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.929s] [ext: omni.kit.property.audio-1.0.16] startup +[2.931s] [ext: omni.kit.property.camera-1.0.10] startup +[2.932s] [ext: omni.sensors.net-1.0.0] startup +[2.936s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.941s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.943s] [ext: omni.kit.property.light-1.0.12] startup +[2.981s] [ext: omni.kit.property.material-1.11.9] startup +[2.986s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.989s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.992s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.999s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.008s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.014s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.018s] [ext: omni.kit.property.render-1.2.1] startup +[3.019s] [ext: omni.kit.property.transform-1.5.13] startup +[3.023s] [ext: isaacsim.gui.property-1.1.3] startup +[3.024s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.030s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.036s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.042s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.046s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.048s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T09:53:57Z [2,995ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T09:53:57Z [2,995ms] [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. +[3.049s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T09:53:57Z [2,998ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T09:53:57Z [2,998ms] [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. +[3.053s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.068s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T09:53:57Z [3,017ms] [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. +2026-09-20T09:53:57Z [3,017ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T09:53:57Z [3,017ms] [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. +2026-09-20T09:53:57Z [3,017ms] [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. +2026-09-20T09:53:57Z [3,017ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +2026-09-20T09:53:57Z [3,018ms] [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. +[3.072s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T09:53:57Z [3,020ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.073s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.084s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.089s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.092s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.094s] [ext: omni.ocio-0.1.1] startup +[3.097s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.115s] [ext: omni.kit.window.console-1.1.4] startup +[3.123s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.130s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T09:53:57Z [3,077ms] [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. +[3.131s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.139s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.145s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.156s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T09:53:57Z [3,104ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.159s] [ext: semantics.schema.editor-2.0.2] startup +[3.163s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.165s] [ext: semantics.schema.property-2.0.1] startup +[3.166s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T09:53:57Z [3,114ms] [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. +2026-09-20T09:53:57Z [3,114ms] [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. +2026-09-20T09:53:57Z [3,115ms] [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. +[3.168s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T09:53:57Z [3,117ms] [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. +2026-09-20T09:53:57Z [3,118ms] [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. +2026-09-20T09:53:57Z [3,118ms] [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. +2026-09-20T09:53:57Z [3,118ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.171s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.184s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.190s] [ext: omni.kit.menu.common-2.0.1] startup +[3.191s] [ext: isaacsim.exp.base-5.1.0] startup +[3.192s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.193s] Simulation App Starting +2026-09-20T09:53:57Z [3,464ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.554s] app ready +[5.732s] Simulation App Startup Complete +[6.032s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T09:54:00Z [6,100ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T09:54:00Z [6,893ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.425] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.703] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T09:54:58Z [64,442ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:55:00Z [66,699ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T09:55:01Z [67,007ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,007ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,007ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,132ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,132ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,185ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,185ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,239ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,287ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,287ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,287ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,287ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,334ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,334ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,399ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,399ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,399ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,399ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,408ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:01Z [67,408ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,223ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,223ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,224ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,224ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,291ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,291ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,300ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,300ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,310ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,310ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,318ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,318ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,509ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,509ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,817ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,817ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T09:55:02Z [68,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:13.799] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:13.838] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T09:55:12Z [78,827ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:23.312] [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. +[00:01:23.315] [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. +2026-09-20T09:55:13Z [79,809ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:55:13Z [79,810ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:55:13Z [79,811ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:55:13Z [79,812ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T09:55:17Z [82,977ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T09:55:21Z [87,138ms] [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 +2026-09-20T09:55:26Z [92,173ms] [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 +2026-09-20T09:55:31Z [97,135ms] [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 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-20T10:02:39Z [525,851ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:39Z [525,851ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:39Z [525,851ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[526.015s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..7301448a69720972c06caf6a727dd04a722e632c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b936ce686080dfd419bf55d0c6f9a907f4a57dea953aca4027cc7d509289da2 +size 414 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..05edae1ee45c7fe926e7e34077e1d2cf95328606 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:617e4706c94f0fba230179d488cd1a1df0ce923b2f309d18f81bcbb1216a9c4e +size 4582790 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54b0191311ea5a5ec7d601c66600560965778c71 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:339549e577023058e9855a6bf70f45a1f006a7686c9d3553f099d04a4a56d175 +size 583101 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/case.json new file mode 100644 index 0000000000000000000000000000000000000000..44f757358697a8497932d5348475b9f80dbf0d6d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019400-f003069", + "kind": "vla", + "episode_id": "00019400", + "instance_id": 940, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019400.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019400.json", + "frame": 3069, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 3069, + 3477 + ], + "reason": "seed at row start because can_113 was never collected but the robot began lowering the trash can (D1) immediately after C2; f3069 restores the clean two-cans-inside, trash-can-still-held state before any part of the wrong plan has executed. Correct next action is to pick up can_113 from the living-room floor with the left hand while keeping the trash can in the right (mirroring the successful pattern used for can_115 and can_114)" +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..0266b7309f8e405a5bbfe2e4c1103520e38e9afd --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003069/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019400-f003069", + "episode_id": "00019400", + "instance_id": 940, + "start_type": "judgement_seed", + "source_frame": 3069, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:03:11+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 286, + "dataset_frames": 286, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019400-f003069/attempt_001/dataset", + "video": "runs/vla-episode_00019400-f003069/attempt_001/video.mp4", + "initial_inside": 2, + "final_inside": 2, + "initial_held": { + "left": null, + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 20 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7c7cc445e8f0b649bee78df14e412d759c58b258 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f8491f4d11db69c387d2a013079f8df4a29e59d5fbbba8cae0fc261c275c877 +size 740778 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ca69d6dc317123af520efe87368934f2a4c323ce --- /dev/null +++ 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"codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "action" + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "reward" + ] + }, + "next.terminated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 61 + ], + "names": [ + null + ] + }, + "observation.robot2cam_pose.left_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": 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Both grippers empty confirmed by wrist views at f4500, f5500, f6500, f7500, f8500, f9500, f10000, f10300, f10450, f10500, f10525 all showing base/wheel with no held object" + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88ea2d446fa6a14b8e294c1ad3b427c1014d7f13 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/events.jsonl @@ -0,0 +1,351 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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-0.5070821670232367, 0.03536593672145252], [0.4426107366446621, 0.4467305393510007, 0.41092706432556975]]} +{"step": 1361, "event": "joint_tracking", "max_error_rad": 0.0008913874626159668} +{"step": 1361, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.291184902191162, 5.683774948120117, 0.6480277180671692], "desired_xyz": [4.291202068328857, 5.683783531188965, 0.6481237888336181], "error_m": 9.796906409830943e-05} +{"step": 1361, "event": "eef_target", "arm": "left", "body_xyz": [0.2966920108373431, 0.20015567594315103, 0.6803891451824028], "world_xyz": [4.291202068328857, 5.683783531188965, 0.6856237888336182], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1361, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1361, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.04974848804782478, "held_worst_rejected_m": null, "base_box_body": [[-0.5025892718367937, -0.5070821721748263, 0.03536595571250373], [0.4426107373008336, 0.44673053890623543, 0.410927068039339]]} +{"step": 1381, "event": "joint_tracking", "max_error_rad": 0.0006221532821655273} +{"step": 1381, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.291196823120117, 5.683772563934326, 0.6855188608169556], "desired_xyz": [4.291202068328857, 5.683783531188965, 0.6856237888336182], "error_m": 0.0001056299274343646} +{"step": 1381, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010190.hdf5", "frame": 1972, "arm": "left", "kind": "can"} +{"step": 1381, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.291196823120117, 5.683772563934326, 0.6855188608169556], [-0.6508585214614868, 0.7401746511459351, -0.14874579012393951, 0.07999666035175323]], "right": [[4.834489822387695, 5.72448205947876, 0.43020516633987427], [-0.6243612170219421, 0.7346529364585876, 0.21738244593143463, 0.1523253321647644]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.746368885040283, 5.705426216125488, 0.2961857318878174], "can__of__soda.n.01_1": [4.730839729309082, 5.73690938949585, 0.1996467262506485], "can__of__soda.n.01_3": [2.63018536567688, 5.091981410980225, 0.06461406499147415], "ashcan.n.01_1": [4.726421356201172, 5.7408294677734375, 0.29518163204193115]}, "robot_pose": [[4.367114543914795, 5.33393669128418, 0.005285337567329407], [-5.0931237637996674e-05, 6.237885099835694e-05, 0.5609696507453918, 0.8278363943099976]]}} +{"step": 1381, "event": "approach_candidates", "key": "pick:can_of_soda_113", "target": [2.63018536567688, 5.091981410980225], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 1381, "event": "primitive_failure", "operation": "pick:can_of_soda_113", "reason": "no_traversable_route", "attempt": 3} +{"step": 1381, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_113"} +{"step": 1381, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.291196823120117, 5.683772563934326, 0.6855188608169556], [-0.6508585214614868, 0.7401746511459351, -0.14874579012393951, 0.07999666035175323]], "right": [[4.834489822387695, 5.72448205947876, 0.43020516633987427], [-0.6243612170219421, 0.7346529364585876, 0.21738244593143463, 0.1523253321647644]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.746368885040283, 5.705426216125488, 0.2961857318878174], "can__of__soda.n.01_1": [4.730839729309082, 5.73690938949585, 0.1996467262506485], "can__of__soda.n.01_3": [2.63018536567688, 5.091981410980225, 0.06461406499147415], "ashcan.n.01_1": [4.726421356201172, 5.7408294677734375, 0.29518163204193115]}, "robot_pose": [[4.367114543914795, 5.33393669128418, 0.005285337567329407], [-5.0931237637996674e-05, 6.237885099835694e-05, 0.5609696507453918, 0.8278363943099976]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..a9fc52f301af3b048fa8da219870fd63f51ae0cb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1389 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.933s] [ext: omni.physics.tensors-107.3.26] startup +[1.936s] [ext: omni.warp.core-1.8.2] startup +[2.041s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.043s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T14:50:20Z [1,991ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.048s] [ext: omni.physx.tensors-107.3.26] startup +[2.062s] [ext: isaacsim.core.utils-3.5.1] startup +[2.065s] [ext: omni.graph.image.core-0.6.1] startup +[2.067s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.139s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.141s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.143s] [ext: isaacsim.core.prims-0.6.1] startup +[2.157s] [ext: omni.syntheticdata-0.6.13] startup +[2.167s] [ext: isaacsim.core.api-4.8.0] startup +[2.179s] [ext: omni.videoencoding-0.1.2] startup +[2.182s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.183s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.186s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.186s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.187s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.190s] [ext: omni.graph.nodes-1.170.10] startup +[2.199s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.203s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.207s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T14:50:20Z [2,151ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.208s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.224s] [ext: omni.warp-1.8.2] startup +[2.228s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.241s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.248s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.282s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.327s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T14:50:20Z [2,293ms] [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 +2026-09-21T14:50:21Z [2,385ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T14:50:21Z [2,385ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T14:50:21Z [2,385ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.445s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.448s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.455s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.470s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T14:50:21Z [2,415ms] [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. +[2.472s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.503s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.575s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.642s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.676s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.686s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T14:50:21Z [2,643ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.749s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.752s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T14:50:21Z [2,707ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.768s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T14:50:21Z [2,717ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.774s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.850s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T14:50:21Z [2,795ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:50:21Z [2,795ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:50:21Z [2,833ms] [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. +[2.892s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.902s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T14:50:21Z [2,847ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.905s] [ext: omni.kit.selection-0.1.6] startup +[2.907s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.918s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T14:50:21Z [2,862ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,862ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,862ms] [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. +2026-09-21T14:50:21Z [2,864ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,864ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,864ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,865ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,865ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,865ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:50:21Z [2,865ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.924s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.934s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.944s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.949s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T14:50:21Z [2,893ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.953s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.960s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T14:50:21Z [2,903ms] [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. +2026-09-21T14:50:21Z [2,906ms] [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. +2026-09-21T14:50:21Z [2,907ms] [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. +2026-09-21T14:50:21Z [2,907ms] [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. +2026-09-21T14:50:21Z [2,907ms] [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. +2026-09-21T14:50:21Z [2,908ms] [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. +2026-09-21T14:50:21Z [2,909ms] [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. +2026-09-21T14:50:21Z [2,910ms] [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. +2026-09-21T14:50:21Z [2,910ms] [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. +2026-09-21T14:50:21Z [2,910ms] [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. +2026-09-21T14:50:21Z [2,910ms] [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. +2026-09-21T14:50:21Z [2,911ms] [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. +2026-09-21T14:50:21Z [2,911ms] [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. +2026-09-21T14:50:21Z [2,911ms] [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. +2026-09-21T14:50:21Z [2,911ms] [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. +2026-09-21T14:50:21Z [2,911ms] [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. +[2.970s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T14:50:21Z [2,916ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.974s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T14:50:21Z [2,920ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T14:50:21Z [2,920ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.977s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T14:50:21Z [2,928ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.986s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T14:50:21Z [2,930ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.989s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.991s] [ext: omni.isaac.utils-2.0.6] startup +[2.993s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.003s] [ext: isaacsim.app.about-2.0.11] startup +[3.007s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T14:50:21Z [2,952ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.009s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.011s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T14:50:21Z [2,955ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T14:50:21Z [2,959ms] [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. +2026-09-21T14:50:21Z [2,959ms] [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. +2026-09-21T14:50:21Z [2,960ms] [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. +2026-09-21T14:50:21Z [2,960ms] [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. +2026-09-21T14:50:21Z [2,961ms] [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. +2026-09-21T14:50:21Z [2,962ms] [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. +2026-09-21T14:50:21Z [2,962ms] [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. +2026-09-21T14:50:21Z [2,964ms] [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. +2026-09-21T14:50:21Z [2,965ms] [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. +2026-09-21T14:50:21Z [2,965ms] [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. +2026-09-21T14:50:21Z [2,967ms] [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. +[3.025s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T14:50:21Z [2,977ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T14:50:21Z [2,978ms] [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. +[3.036s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.045s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T14:50:21Z [2,988ms] [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. +[3.046s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.064s] [ext: omni.kit.property.audio-1.0.16] startup +[3.066s] [ext: omni.kit.property.camera-1.0.10] startup +[3.067s] [ext: omni.sensors.net-1.0.0] startup +[3.070s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.074s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.077s] [ext: omni.kit.property.light-1.0.12] startup +[3.119s] [ext: omni.kit.property.material-1.11.9] startup +[3.123s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.125s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.126s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.131s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.137s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.141s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.144s] [ext: omni.kit.property.render-1.2.1] startup +[3.145s] [ext: omni.kit.property.transform-1.5.13] startup +[3.148s] [ext: isaacsim.gui.property-1.1.3] startup +[3.151s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.159s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.168s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.178s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.183s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.189s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T14:50:21Z [3,133ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T14:50:21Z [3,133ms] [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. +[3.190s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T14:50:21Z [3,134ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T14:50:21Z [3,134ms] [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. +[3.191s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.208s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T14:50:21Z [3,153ms] [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. +2026-09-21T14:50:21Z [3,153ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T14:50:21Z [3,153ms] [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. +2026-09-21T14:50:21Z [3,153ms] [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. +2026-09-21T14:50:21Z [3,154ms] [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. +2026-09-21T14:50:21Z [3,154ms] [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. +2026-09-21T14:50:21Z [3,154ms] [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. +2026-09-21T14:50:21Z [3,154ms] [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. +2026-09-21T14:50:21Z [3,156ms] [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. +2026-09-21T14:50:21Z [3,156ms] [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. +2026-09-21T14:50:21Z [3,156ms] [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. +[3.214s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T14:50:21Z [3,160ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.218s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.229s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.231s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.233s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.235s] [ext: omni.ocio-0.1.1] startup +[3.237s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.246s] [ext: omni.kit.window.console-1.1.4] startup +[3.252s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.255s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T14:50:21Z [3,199ms] [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. +[3.256s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.260s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.264s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.271s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T14:50:21Z [3,215ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.272s] [ext: semantics.schema.editor-2.0.2] startup +[3.276s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.277s] [ext: semantics.schema.property-2.0.1] startup +[3.278s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T14:50:21Z [3,221ms] [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. +2026-09-21T14:50:21Z [3,222ms] [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. +2026-09-21T14:50:21Z [3,222ms] [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. +[3.279s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T14:50:21Z [3,224ms] [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. +2026-09-21T14:50:21Z [3,224ms] [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. +2026-09-21T14:50:21Z [3,224ms] [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. +2026-09-21T14:50:21Z [3,224ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.281s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.289s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.303s] [ext: omni.kit.menu.common-2.0.1] startup +[3.305s] [ext: isaacsim.exp.base-5.1.0] startup +[3.305s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.306s] Simulation App Starting +2026-09-21T14:50:22Z [3,535ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.620s] app ready +[5.433s] Simulation App Startup Complete +[5.722s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T14:50:24Z [5,749ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T14:50:25Z [6,656ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.284] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.444] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T14:51:21Z [62,729ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:51:23Z [65,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,073ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,073ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,073ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,073ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:23Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,372ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [65,372ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,026ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,026ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,026ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,027ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:24Z [66,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,652ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:51:25Z [66,652ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:51:26Z [67,520ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:11.421] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:11.458] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T14:51:34Z [75,687ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:20.062] [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. +[00:01:20.065] [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. +2026-09-21T14:51:35Z [76,476ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:51:35Z [76,477ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:51:35Z [76,478ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:51:35Z [76,479ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:51:37Z [79,184ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T14:51:50Z [92,030ms] [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 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 360 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 720 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1080 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-21T14:57:22Z [423,687ms] [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 +RECOVERY progress 1200 recover_and_reobserve {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T15:04:09Z [830,496ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:04:09Z [830,496ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:04:09Z [830,496ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[830.646s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..ed10b76f8c901a42f9c9f68896db63a2424c9403 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57dd149a2a36f0d51dcbf5f04ad499bdc13d1daf21dae82a6d4bb6f21846cda4 +size 1517 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ebd71bc252110ed7e91e909229229af028d9ab26 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59235041a9dc64a095c1ac5c587c388a90401bafce58e8ec45ab79c306c9cdf7 +size 21715562 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7e4c1d4a25b6e7269a4d79fe14b8a2ed89b1fe30 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:187c946275ac954527aa843c948b16c26ef2f1f8a32c64b3879fef0d6d49f450 +size 3061265 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/case.json new file mode 100644 index 0000000000000000000000000000000000000000..6041d1a8b7dd6e84eda7c8c13d3c8a0bec72e388 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019400-f003478", + "kind": "vla", + "episode_id": "00019400", + "instance_id": 940, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019400.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019400.json", + "frame": 3478, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 3478, + 10535 + ], + "reason": "trash can just dropped on the floor (OnTop\u2192true, grasp_right\u2192false at f3478) with both hands empty and cans 115/114 already inside it; earliest frame from which any recovery is possible, and the required first action is to re-pick the trash can before returning to can_113. Both grippers empty confirmed by wrist views at f4500, f5500, f6500, f7500, f8500, f9500, f10000, f10300, f10450, f10500, f10525 all showing base/wheel with no held object" +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..bed0ee3d68dff6e678e9f904fdc681e17b7328da --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019400-f003478/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019400-f003478", + "episode_id": "00019400", + "instance_id": 940, + "start_type": "judgement_seed", + "source_frame": 3478, + "attempt": "attempt_001", + "completed_at": "2026-09-21T15:05:16+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 1389, + "dataset_frames": 1389, + "dataset_passed": true, + "supervised_frames": 509, + "dataset_root": "runs/vla-episode_00019400-f003478/attempt_001/dataset", + "video": "runs/vla-episode_00019400-f003478/attempt_001/video.mp4", + "initial_inside": 2, + "final_inside": 2, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 60 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..27a54b27cd7baeac4564040e5f8c2af35894a01f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c50dd5f996a1d6fc070579dbc6435dacbf9fe235fa255ae51e869d9245024396 +size 2205426 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6f96b386d6c42518e96a9585935f1516c5d7f06e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60db9b9b0a106ad5d1e5d4305bc5f2568231c901d7cfc878852143ed3de517cc +size 130459 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/info.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..35bbdce2af55142ccc83f66a477de4c7f6ff057f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/dataset/meta/info.json @@ -0,0 +1,317 @@ +{ + 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"case": { + "case_id": "vla-episode_00019410-f004216", + "kind": "vla", + "episode_id": "00019410", + "instance_id": 941, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019410.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019410.json", + "frame": 4216, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 4216, + 5994 + ], + "reason": "At f4216 the plan diverges: instead of turning toward can_of_soda_114 (B3), the robot heads back to the kitchen carrying the trash can with two cans balanced on the lid, and drops it at f5994 (OnTop(trash_can, floor) true, then flickering as it tips). The correct next action under the card's fixed A->B->C->D order is B3, which is never attempted \u2014 can_of_soda_114 has zero log entries in the episode. Seed at row start per the ordering rule. Right arm still holds the trash can at this state, so the pickup uses the free left arm." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d8c591e811848f98a5b7e2e1e6f4ad9e2b0d6a2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/events.jsonl @@ -0,0 +1,615 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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[0.6752928788172967, 0.23332438593376825, 0.40416654724525375], "world_xyz": [3.2654869939639806, 6.766780905424565, 0.4093393286069232], "held": {"left": null, "right": null}} +{"step": 4159, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4159, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4174, "event": "joint_tracking", "max_error_rad": 1.9073486328125e-06} +{"step": 4174, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.2654941082000732, 6.766759872436523, 0.40932536125183105], "desired_xyz": [3.2654869939639806, 6.766780905424565, 0.4093393286069232], "error_m": 2.6231392441551383e-05} +{"step": 4174, "event": "eef_target", "arm": "left", "body_xyz": [0.6681150297020557, 0.2354101398222414, 0.4455749361989916], "world_xyz": [3.271627567500428, 6.762529912589801, 0.4507491886615755], "held": {"left": null, "right": null}} +{"step": 4174, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4174, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4189, "event": "joint_tracking", "max_error_rad": 1.6689300537109375e-06} +{"step": 4189, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.2716362476348877, 6.762503147125244, 0.4507311284542084], "desired_xyz": [3.271627567500428, 6.762529912589801, 0.4507491886615755], "error_m": 3.343510007936454e-05} +{"step": 4189, "event": "primitive_verified", "operation": "deposit:can_of_soda_114", "start": 3664, "end": 4189} +{"step": 4189, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": null}, "eef_world": {"left": [[3.2716362476348877, 6.762503147125244, 0.4507311284542084], [0.9881483912467957, -0.15344670414924622, 0.0006237991619855165, -0.004051626194268465]], "right": [[3.438019037246704, 7.162627220153809, 0.28112390637397766], [0.959720253944397, 0.189579039812088, -0.12218541651964188, 0.16753359138965607]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [3.3011739253997803, 6.767153739929199, 0.1328001320362091], "can__of__soda.n.01_1": [3.2999625205993652, 6.7452569007873535, 0.03917059674859047], "can__of__soda.n.01_3": [3.2779135704040527, 6.6962385177612305, 0.12886250019073486], "ashcan.n.01_1": [3.2936925888061523, 6.742771625518799, 0.13483551144599915]}, "robot_pose": [[3.9799563884735107, 6.774963855743408, 0.005285337567329407], [8.063763380050659e-05, -5.4763336265750695e-06, -0.9871334433555603, -0.15989883244037628]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..72f14dac63a8d6adc0975563c586b648633f4631 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4051 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.968s] [ext: omni.physics.tensors-107.3.26] startup +[1.971s] [ext: omni.warp.core-1.8.2] startup +[2.080s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.082s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:01:06Z [2,059ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.088s] [ext: omni.physx.tensors-107.3.26] startup +[2.093s] [ext: isaacsim.core.utils-3.5.1] startup +[2.097s] [ext: omni.graph.image.core-0.6.1] startup +[2.100s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.177s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.179s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.182s] [ext: isaacsim.core.prims-0.6.1] startup +[2.198s] [ext: omni.syntheticdata-0.6.13] startup +[2.210s] [ext: isaacsim.core.api-4.8.0] startup +[2.224s] [ext: omni.videoencoding-0.1.2] startup +[2.229s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.230s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.234s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.235s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.236s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.242s] [ext: omni.graph.nodes-1.170.10] startup +[2.256s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.259s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.265s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:01:06Z [2,238ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.266s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.273s] [ext: omni.warp-1.8.2] startup +[2.283s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.302s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.304s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.321s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.402s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:01:07Z [2,405ms] [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 +2026-09-20T10:01:07Z [2,485ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:01:07Z [2,485ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:01:07Z [2,485ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.515s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.518s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.523s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.532s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:01:07Z [2,506ms] [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. +[2.535s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.544s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.616s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.681s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.686s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.709s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:01:07Z [2,685ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.732s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.734s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:01:07Z [2,708ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.737s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:01:07Z [2,711ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.740s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.857s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:01:07Z [2,833ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:01:07Z [2,833ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:01:07Z [2,862ms] [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. +[2.890s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.901s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:01:07Z [2,874ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.902s] [ext: omni.kit.selection-0.1.6] startup +[2.904s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.910s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:01:07Z [2,883ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,883ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,883ms] [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. +2026-09-20T10:01:07Z [2,885ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,885ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,885ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,886ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,886ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,886ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:01:07Z [2,886ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.915s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.927s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.935s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.946s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:01:07Z [2,919ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.948s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.955s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:01:07Z [2,928ms] [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. +2026-09-20T10:01:07Z [2,929ms] [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. +2026-09-20T10:01:07Z [2,929ms] [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. +2026-09-20T10:01:07Z [2,929ms] [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. +2026-09-20T10:01:07Z [2,930ms] [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. +2026-09-20T10:01:07Z [2,930ms] [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. +2026-09-20T10:01:07Z [2,930ms] [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. +2026-09-20T10:01:07Z [2,930ms] [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. +2026-09-20T10:01:07Z [2,931ms] [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. +2026-09-20T10:01:07Z [2,931ms] [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. +2026-09-20T10:01:07Z [2,931ms] [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. +2026-09-20T10:01:07Z [2,931ms] [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. +2026-09-20T10:01:07Z [2,932ms] [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. +2026-09-20T10:01:07Z [2,933ms] [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. +2026-09-20T10:01:07Z [2,933ms] [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. +2026-09-20T10:01:07Z [2,933ms] [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. +[2.962s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:01:07Z [2,936ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.964s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:01:07Z [2,940ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:01:07Z [2,940ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.969s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:01:07Z [2,941ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.970s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:01:07Z [2,943ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.971s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.977s] [ext: omni.isaac.utils-2.0.6] startup +[2.979s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.989s] [ext: isaacsim.app.about-2.0.11] startup +[2.992s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:01:07Z [2,965ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.993s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.995s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:01:07Z [2,972ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:01:07Z [2,972ms] [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. +2026-09-20T10:01:07Z [2,972ms] [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. +2026-09-20T10:01:07Z [2,973ms] [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. +2026-09-20T10:01:07Z [2,973ms] [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. +2026-09-20T10:01:07Z [2,973ms] [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. +2026-09-20T10:01:07Z [2,973ms] [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. +2026-09-20T10:01:07Z [2,974ms] [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. +2026-09-20T10:01:07Z [2,974ms] [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. +2026-09-20T10:01:07Z [2,975ms] [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. +2026-09-20T10:01:07Z [2,975ms] [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. +2026-09-20T10:01:07Z [2,976ms] [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. +[3.004s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:01:07Z [2,980ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:01:07Z [2,981ms] [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. +[3.009s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.014s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:01:07Z [2,987ms] [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. +[3.015s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.023s] [ext: omni.kit.property.audio-1.0.16] startup +[3.024s] [ext: omni.kit.property.camera-1.0.10] startup +[3.025s] [ext: omni.sensors.net-1.0.0] startup +[3.028s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.031s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.033s] [ext: omni.kit.property.light-1.0.12] startup +[3.079s] [ext: omni.kit.property.material-1.11.9] startup +[3.084s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.085s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.087s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.091s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.098s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.103s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.106s] [ext: omni.kit.property.render-1.2.1] startup +[3.108s] [ext: omni.kit.property.transform-1.5.13] startup +[3.112s] [ext: isaacsim.gui.property-1.1.3] startup +[3.113s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.119s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.129s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.138s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.142s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.144s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:01:07Z [3,117ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:01:07Z [3,117ms] [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. +[3.146s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:01:07Z [3,120ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:01:07Z [3,121ms] [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. +[3.150s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.164s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:01:07Z [3,138ms] [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. +2026-09-20T10:01:07Z [3,138ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:01:07Z [3,138ms] [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. +2026-09-20T10:01:07Z [3,139ms] [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. +2026-09-20T10:01:07Z [3,139ms] [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. +2026-09-20T10:01:07Z [3,139ms] [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. +2026-09-20T10:01:07Z [3,139ms] [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. +2026-09-20T10:01:07Z [3,140ms] [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. +2026-09-20T10:01:07Z [3,140ms] [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. +2026-09-20T10:01:07Z [3,140ms] [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. +2026-09-20T10:01:07Z [3,140ms] [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. +[3.169s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:01:07Z [3,145ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.174s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.189s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.194s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.197s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.199s] [ext: omni.ocio-0.1.1] startup +[3.203s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.223s] [ext: omni.kit.window.console-1.1.4] startup +[3.230s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.237s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:01:07Z [3,210ms] [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. +[3.238s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.246s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.251s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.267s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:01:07Z [3,240ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.268s] [ext: semantics.schema.editor-2.0.2] startup +[3.275s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.278s] [ext: semantics.schema.property-2.0.1] startup +[3.279s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:01:07Z [3,252ms] [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. +2026-09-20T10:01:07Z [3,252ms] [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. +2026-09-20T10:01:07Z [3,253ms] [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. +[3.281s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:01:07Z [3,255ms] [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. +2026-09-20T10:01:07Z [3,255ms] [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. +2026-09-20T10:01:07Z [3,256ms] [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. +2026-09-20T10:01:07Z [3,256ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.284s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.296s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.302s] [ext: omni.kit.menu.common-2.0.1] startup +[3.305s] [ext: isaacsim.exp.base-5.1.0] startup +[3.305s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.307s] Simulation App Starting +2026-09-20T10:01:07Z [3,339ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:01:07Z [3,362ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.417s] app ready +[5.161s] Simulation App Startup Complete +[5.529s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:01:10Z [5,582ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:01:11Z [6,429ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.981] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.054] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:02:07Z [62,547ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:09Z [64,997ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [64,997ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [64,997ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [64,997ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [64,997ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [64,998ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,153ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,153ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,189ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,189ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,189ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,189ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,260ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,260ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,305ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:09Z [65,305ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,043ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,043ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,077ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,077ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,083ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,083ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:10Z [66,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,526ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,526ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,553ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,553ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:02:11Z [66,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:02:12Z [67,516ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:11.354] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:11.393] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:02:20Z [75,497ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:19.904] [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. +[00:01:19.906] [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. +2026-09-20T10:02:20Z [76,382ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:20Z [76,383ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:20Z [76,384ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:20Z [76,385ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:02:23Z [78,947ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:02:28Z [83,709ms] [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 +2026-09-20T10:02:33Z [89,275ms] [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 +2026-09-20T10:02:39Z [94,418ms] [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_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 transport_posture {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 human_carry_pose_for_pick {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-20T10:09:01Z [476,810ms] [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 1680 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1800 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1920 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2040 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2160 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2280 recover_can_on_bin_rim {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 transport_posture {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 ground_bin_for_rim_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 ground_bin_for_rim_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 3240 ground_bin_for_rim_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 3480 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +2026-09-20T10:13:46Z [762,375ms] [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 3600 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 3720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 3840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 3960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4080 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 4200 verify_goal {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +GEOMETRY_QA False 0 +2026-09-20T10:16:17Z [913,052ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:16:17Z [913,052ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:16:17Z [913,052ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[913.170s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..3a744a1fb5986ea1e2ffcee61451f87e28361678 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ed9c50385d8740dfe8a8bc2e45e78801fb6f5f5b82d6691f5c0523c37de1383 +size 4179 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..1d85092913942501299b06872c7dd231e2bb8720 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019410-f004216/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 +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..65a3b530b993a24142fd7521a1f6108da615a829 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6097684aa5788e8f997e021f9242fa4b5d90c748bbbfd7b9ae5ab52d56863084 +size 65994792 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fbd332bada47f8863e93445b33595247e005d644 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21f1263612b2f1f8399509fc98aec3804e62382e9514e360284e57f4011d63b9 +size 7280454 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/case.json new file mode 100644 index 0000000000000000000000000000000000000000..ffd0049620014a80f32ae169732c47b55651fec2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019410-f004216", + "kind": "vla", + "episode_id": "00019410", + "instance_id": 941, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019410.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019410.json", + "frame": 4216, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 4216, + 5994 + ], + "reason": "At f4216 the plan diverges: instead of turning toward can_of_soda_114 (B3), the robot heads back to the kitchen carrying the trash can with two cans balanced on the lid, and drops it at f5994 (OnTop(trash_can, floor) true, then flickering as it tips). The correct next action under the card's fixed A->B->C->D order is B3, which is never attempted \u2014 can_of_soda_114 has zero log entries in the episode. Seed at row start per the ordering rule. Right arm still holds the trash can at this state, so the pickup uses the free left arm." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..b5d1e5172f5613cd6fcb6e237fe5977d4bcda8c6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f004216/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019410-f004216", + "episode_id": "00019410", + "instance_id": 941, + "start_type": "judgement_seed", + "source_frame": 4216, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:18:53+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 4219, + 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-0.512061431028311, 0.035361551401043224], [0.5362499756164953, 0.5326119907448359, 0.41094641505605267]]} +{"step": 1649, "event": "joint_tracking", "max_error_rad": 0.0012052059173583984} +{"step": 1649, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.219533920288086, 5.479785919189453, 0.35900112986564636], "desired_xyz": [4.219513893127441, 5.4797868728637695, 0.35904543995857224], "error_m": 4.8635182669378854e-05} +{"step": 1649, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010190.hdf5", "frame": 3368, "arm": "left", "kind": "can"} +{"step": 1649, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.219533920288086, 5.479785919189453, 0.35900112986564636], [0.6651074886322021, 0.4559940993785858, -0.11267729848623276, -0.5805216431617737]], "right": [[3.597658395767212, 5.602930068969727, 0.3646353483200073], [0.7040510177612305, 0.4421291947364807, -0.10518748313188553, 0.5456826090812683]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [3.731710433959961, 5.557209491729736, 0.33940061926841736], "can__of__soda.n.01_1": [3.7854206562042236, 5.468455791473389, 0.32539740204811096], "can__of__soda.n.01_2": [3.221775770187378, 7.2917280197143555, 0.07149560004472733], "ashcan.n.01_1": [3.73642635345459, 5.5300164222717285, 0.38108769059181213]}, "robot_pose": [[4.37744140625, 5.880609512329102, 0.005285277962684631], [7.275119423866272e-05, 3.551807094481774e-05, -0.9338650703430176, 0.35762572288513184]]}} +{"step": 1649, "event": "approach_candidates", "key": "pick:can_of_soda_114", "target": [3.221775770187378, 7.2917280197143555], "evaluated": 44, "traversable": 7, "previously_tried": 4, "chosen": {"xy": [3.6592242163337234, 6.690779721635272], "yaw": 1.8569985951047734, "delta": -0.4, "distance": 0.7}} +{"step": 1669, "event": "held_object_displaced_during_navigation", "object": "trash_can_116", "start_local": [0.7111657725124942, -0.1672561796311749, 0.3759147249391067], "now_local": [0.6858560652424842, -0.09698616400145932, 0.45682658552050864], "displacement_m": 0.11011442031558942} +{"step": 1699, "event": "carry_displace_recovery_start", "object": "trash_can_116", "bin_local": [0.7108941976714505, -0.16735794829224893, 0.37566896039649966]} +{"step": 1699, "event": "carry_displace_recovered", "object": "trash_can_116", "held_local_after": [0.7108941976714516, -0.16735794829224904, 0.37566896039649966]} +{"step": 1729, "event": "held_object_displaced_during_navigation", "object": "trash_can_116", "start_local": [0.7108941976714516, -0.16735794829224904, 0.37566896039649966], "now_local": [0.6775956172116799, -0.05018869348098881, 0.47830401842848563], "displacement_m": 0.15928397556217336} +{"step": 1759, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "held_object_displaced_during_navigation", "attempt": 3} +{"step": 1759, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_114"} +{"step": 1759, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.190767765045166, 5.4610114097595215, 0.35902196168899536], [0.6699215769767761, 0.44888144731521606, -0.1065230667591095, -0.5816900730133057]], "right": [[3.571845054626465, 5.5975022315979, 0.3647144138813019], [0.7087084054946899, 0.4343785047531128, -0.11039295792579651, 0.5448496341705322]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [3.706984043121338, 5.5499162673950195, 0.3404693305492401], "can__of__soda.n.01_1": [3.756667137145996, 5.4589524269104, 0.32576507329940796], "can__of__soda.n.01_2": [3.221494436264038, 7.292994976043701, 0.07149393111467361], "ashcan.n.01_1": [3.709043025970459, 5.521687984466553, 0.3813363313674927]}, "robot_pose": [[4.357134819030762, 5.858405113220215, 0.005293324589729309], [5.397573113441467e-05, 5.126031464897096e-05, -0.9376145005226135, 0.3476765751838684]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..02e27e103c967ace0dc3c6f0bc715df5fd4e7f42 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1767 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.801s] [ext: omni.physics.tensors-107.3.26] startup +[1.805s] [ext: omni.warp.core-1.8.2] startup +[1.910s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.911s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T14:54:10Z [1,905ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.916s] [ext: omni.physx.tensors-107.3.26] startup +[1.921s] [ext: isaacsim.core.utils-3.5.1] startup +[1.924s] [ext: omni.graph.image.core-0.6.1] startup +[1.926s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[1.997s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.000s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.001s] [ext: isaacsim.core.prims-0.6.1] startup +[2.015s] [ext: omni.syntheticdata-0.6.13] startup +[2.025s] [ext: isaacsim.core.api-4.8.0] startup +[2.033s] [ext: omni.videoencoding-0.1.2] startup +[2.039s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.041s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.043s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.045s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.045s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.048s] [ext: omni.graph.nodes-1.170.10] startup +[2.056s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.058s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.061s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T14:54:10Z [2,051ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.062s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.067s] [ext: omni.warp-1.8.2] startup +[2.072s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.083s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.085s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.095s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.159s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T14:54:11Z [2,174ms] [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 +2026-09-21T14:54:11Z [2,303ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T14:54:11Z [2,303ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T14:54:11Z [2,304ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.320s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.324s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.331s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.344s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T14:54:11Z [2,335ms] [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. +[2.348s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.357s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.381s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.393s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.398s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.402s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T14:54:11Z [2,397ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.418s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.426s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T14:54:11Z [2,425ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.438s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T14:54:11Z [2,430ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.441s] [ext: omni.anim.curve.core-1.3.1] startup +[2.567s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T14:54:11Z [2,562ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:54:11Z [2,574ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T14:54:11Z [2,631ms] [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. +[2.644s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.722s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T14:54:11Z [2,712ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.724s] [ext: omni.kit.selection-0.1.6] startup +[2.725s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.730s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T14:54:11Z [2,719ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,725ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,725ms] [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. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T14:54:11Z [2,726ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.738s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.749s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.760s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.765s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T14:54:11Z [2,755ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.767s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.772s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T14:54:11Z [2,764ms] [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. +2026-09-21T14:54:11Z [2,764ms] [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. +2026-09-21T14:54:11Z [2,765ms] [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. +2026-09-21T14:54:11Z [2,766ms] [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. +2026-09-21T14:54:11Z [2,766ms] [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. +2026-09-21T14:54:11Z [2,766ms] [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. +2026-09-21T14:54:11Z [2,766ms] [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. +2026-09-21T14:54:11Z [2,767ms] [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. +2026-09-21T14:54:11Z [2,768ms] [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. +2026-09-21T14:54:11Z [2,769ms] [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. +2026-09-21T14:54:11Z [2,769ms] [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. +2026-09-21T14:54:11Z [2,769ms] [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. +2026-09-21T14:54:11Z [2,769ms] [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. +2026-09-21T14:54:11Z [2,769ms] [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. +2026-09-21T14:54:11Z [2,771ms] [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. +2026-09-21T14:54:11Z [2,771ms] [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. +[2.783s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T14:54:11Z [2,773ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.785s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T14:54:11Z [2,777ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T14:54:11Z [2,779ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.790s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T14:54:11Z [2,779ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.791s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T14:54:11Z [2,781ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.793s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.799s] [ext: omni.isaac.utils-2.0.6] startup +[2.801s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.810s] [ext: isaacsim.app.about-2.0.11] startup +[2.813s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T14:54:11Z [2,804ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.815s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.817s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T14:54:11Z [2,807ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T14:54:11Z [2,807ms] [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. +2026-09-21T14:54:11Z [2,808ms] [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. +2026-09-21T14:54:11Z [2,808ms] [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. +2026-09-21T14:54:11Z [2,808ms] [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. +2026-09-21T14:54:11Z [2,809ms] [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. +2026-09-21T14:54:11Z [2,809ms] [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. +2026-09-21T14:54:11Z [2,809ms] [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. +2026-09-21T14:54:11Z [2,809ms] [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. +2026-09-21T14:54:11Z [2,810ms] [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. +2026-09-21T14:54:11Z [2,810ms] [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. +2026-09-21T14:54:11Z [2,811ms] [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. +[2.823s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T14:54:11Z [2,821ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T14:54:11Z [2,821ms] [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. +[2.833s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.839s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T14:54:11Z [2,828ms] [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. +[2.840s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.846s] [ext: omni.kit.property.audio-1.0.16] startup +[2.848s] [ext: omni.kit.property.camera-1.0.10] startup +[2.849s] [ext: omni.sensors.net-1.0.0] startup +[2.851s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.854s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.856s] [ext: omni.kit.property.light-1.0.12] startup +[2.892s] [ext: omni.kit.property.material-1.11.9] startup +[2.898s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.900s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.902s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.905s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.911s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.915s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.917s] [ext: omni.kit.property.render-1.2.1] startup +[2.918s] [ext: omni.kit.property.transform-1.5.13] startup +[2.921s] [ext: isaacsim.gui.property-1.1.3] startup +[2.922s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.927s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.933s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.939s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.944s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.948s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T14:54:11Z [2,938ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T14:54:11Z [2,938ms] [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. +[2.949s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T14:54:11Z [2,940ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T14:54:11Z [2,941ms] [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. +[2.952s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.965s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T14:54:11Z [2,956ms] [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. +2026-09-21T14:54:11Z [2,956ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T14:54:11Z [2,956ms] [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. +2026-09-21T14:54:11Z [2,956ms] [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. +2026-09-21T14:54:11Z [2,956ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +2026-09-21T14:54:11Z [2,957ms] [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. +[2.969s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T14:54:11Z [2,959ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.971s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.975s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.984s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.988s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.991s] [ext: omni.ocio-0.1.1] startup +[2.994s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.006s] [ext: omni.kit.window.console-1.1.4] startup +[3.022s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.027s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T14:54:11Z [3,016ms] [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. +[3.028s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.035s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.044s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.060s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T14:54:11Z [3,050ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.061s] [ext: semantics.schema.editor-2.0.2] startup +[3.068s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.070s] [ext: semantics.schema.property-2.0.1] startup +[3.072s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T14:54:11Z [3,062ms] [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. +2026-09-21T14:54:11Z [3,063ms] [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. +2026-09-21T14:54:11Z [3,063ms] [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. +[3.075s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T14:54:11Z [3,066ms] [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. +2026-09-21T14:54:11Z [3,067ms] [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. +2026-09-21T14:54:11Z [3,067ms] [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. +2026-09-21T14:54:11Z [3,067ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.078s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.092s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.102s] [ext: omni.kit.menu.common-2.0.1] startup +[3.106s] [ext: isaacsim.exp.base-5.1.0] startup +[3.107s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.108s] Simulation App Starting +2026-09-21T14:54:12Z [3,151ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T14:54:12Z [3,193ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.231s] app ready +[5.053s] Simulation App Startup Complete +[5.412s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T14:54:14Z [5,484ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T14:54:15Z [6,351ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.907] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.414] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T14:55:13Z [64,907ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:55:15Z [67,021ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T14:55:16Z [67,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,279ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,279ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,425ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,425ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,526ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,526ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:16Z [67,681ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,499ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,499ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,559ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,559ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,565ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,565ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,571ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,571ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,587ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,587ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [68,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:17Z [69,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T14:55:18Z [69,214ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T14:55:18Z [69,214ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:14.072] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:14.111] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T14:55:27Z [78,927ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:23.215] [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. +[00:01:23.219] [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. +2026-09-21T14:55:28Z [79,696ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:55:28Z [79,697ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:55:28Z [79,698ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:55:28Z [79,699ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T14:55:31Z [82,497ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T14:55:38Z [89,407ms] [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 +2026-09-21T14:55:45Z [96,778ms] [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 +2026-09-21T14:55:49Z [100,290ms] [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_3': True, 'can__of__soda.n.01_1': 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_3': True, 'can__of__soda.n.01_1': 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_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 recover_and_reobserve {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T15:08:20Z [852,099ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:08:20Z [852,099ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:08:20Z [852,099ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[852.228s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c2c5254d2061a85d7756b9ddf8e25672a591881 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1101184583255720f5eb8f1beeb3567a168faaa05c9bdd95f0702115423ec1a +size 1895 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d34d01c2f791f3509bccc809fb2a66c983cac42c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:937ab90275394eef95d7235fd30d7932b072226b069619a774efbc0b4c09640e +size 27664862 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec0be9903af108b4149dc240d9943a440b470df5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:283370c086e75b0b2c3d5106664a6d0e394205710ca3bea64d9d5047138ac346 +size 4546514 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019410-f005995/case.json 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"case": { + "case_id": "vla-episode_00019430-f008339", + "kind": "vla", + "episode_id": "00019430", + "instance_id": 943, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019430.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019430.json", + "frame": 8339, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 8339, + 10535 + ], + "reason": "After the trash can grasp lands, nothing productive follows: right hand holds trash_can_116 from f8338 to end (no release in transitions; wrist view shows continuous close-up of trash-can interior at f8400/8600/9000/9500/10000/10525), and no can grasp is attempted with either hand (head + wrist sweep at stride 200 shows only navigation). Seed at row start because progress toward the next expected action (phase B pick-can) never begins \u2014 no earlier frame within this row shows recoverable progress. Right is occupied so recovery must use the left arm; any of the three cans is a legitimate target and can_of_soda_113 is chosen arbitrarily. The seed state (right hand holding trash can while left approaches a can) is not represented in the demo episodes examined for the task card." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f20a2bbc4e3b925de742b90610835c0e0513d8ef --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/events.jsonl @@ -0,0 +1,937 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5198, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5223, "event": "joint_tracking", "max_error_rad": 0.006079554557800293} +{"step": 5223, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.703672885894775, 4.509542942047119, 0.07061812281608582], "desired_xyz": [5.703758955001831, 4.509492635726929, 0.06999999999999998], "error_m": 0.0006261105595710283} +{"step": 5223, "event": "eef_target", "arm": "left", "body_xyz": [0.6347195190098716, 0.24046941884234724, 0.03932354788728287], "world_xyz": [5.703758955001831, 4.509492635726929, 0.04499999999999999], "held": {"left": null, "right": null}} +{"step": 5223, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5223, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5248, "event": "joint_tracking", "max_error_rad": 0.023052096366882324} +{"step": 5248, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.703068733215332, 4.509512424468994, 0.05002951622009277], "desired_xyz": [5.703758955001831, 4.509492635726929, 0.04499999999999999], "error_m": 0.005076694900921939} +{"step": 5278, "event": "eef_target", "arm": "left", "body_xyz": [0.6350468558624647, 0.23953710120798022, 0.07825233939291412], "world_xyz": [5.703234851360321, 4.509301841259003, 0.08874876841902736], "held": {"left": "can_of_soda_115", "right": null}} +{"step": 5278, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5278, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5295, "event": "joint_tracking", "max_error_rad": 0.0020787715911865234} +{"step": 5295, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.704887866973877, 4.508971691131592, 0.08342098444700241], "desired_xyz": [5.703234851360321, 4.509301841259003, 0.08874876841902736], "error_m": 0.005588089277906626} +{"step": 5295, "event": "eef_target", "arm": "left", "body_xyz": [0.6343293932032232, 0.2409070743000446, 0.12231939723424377], "world_xyz": [5.703409552574158, 4.509365439414978, 0.1274991789460182], "held": {"left": "can_of_soda_115", "right": null}} +{"step": 5295, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5295, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5312, "event": "joint_tracking", "max_error_rad": 0.002088785171508789} +{"step": 5312, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.703352451324463, 4.509080410003662, 0.12748655676841736], "desired_xyz": [5.703409552574158, 4.509365439414978, 0.1274991789460182], "error_m": 0.00029096672902446523} +{"step": 5312, "event": "eef_target", "arm": "left", "body_xyz": [0.6344636724679271, 0.2407945215692294, 0.16106994571884853], "world_xyz": [5.703584253787994, 4.509429037570953, 0.16624958947300922], "held": {"left": "can_of_soda_115", "right": null}} +{"step": 5312, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5312, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5329, "event": "joint_tracking", "max_error_rad": 0.0021101832389831543} +{"step": 5329, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.703527450561523, 4.509145736694336, 0.1662367880344391], "desired_xyz": [5.703584253787994, 4.509429037570953, 0.16624958947300922], "error_m": 0.00028922287264180853} +{"step": 5329, "event": "eef_target", "arm": "left", "body_xyz": [0.6345925627352775, 0.24068494887094755, 0.19982015394412123], "world_xyz": [5.703758955001831, 4.509492635726929, 0.2049999999999999], "held": {"left": "can_of_soda_115", "right": null}} +{"step": 5329, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5329, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 5346, "event": "joint_tracking", "max_error_rad": 0.0021231770515441895} +{"step": 5346, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.703693866729736, 4.509208679199219, 0.20498578250408173], "desired_xyz": [5.703758955001831, 4.509492635726929, 0.2049999999999999], "error_m": 0.00029166749901824574} +{"step": 5346, "event": "primitive_verified", "operation": "pick:can_of_soda_115", "start": 4802, "end": 5346} +{"step": 5346, "event": "primitive_start", "operation": "deposit:can_of_soda_115", "attempt": 3} +{"step": 5346, "event": "stage", "name": "deposit_can", "task": {"inside": {"can__of__soda.n.01_1": false, "can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": null}, "eef_world": {"left": [[5.703693866729736, 4.509208679199219, 0.20498578250408173], [0.04004514217376709, 0.9991976618766785, -0.0006266942364163697, -8.703173807589337e-05]], "right": [[6.356278896331787, 4.14111852645874, 0.6097407341003418], [-0.4807472825050354, 0.7696102857589722, -0.12644486129283905, 0.40074166655540466]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [5.700261116027832, 4.511682510375977, 0.19095705449581146], "can__of__soda.n.01_2": [5.964168548583984, 4.43467378616333, 0.04113687574863434], "can__of__soda.n.01_3": [2.9929826259613037, 3.385714292526245, 0.0368480384349823], "ashcan.n.01_1": [5.843520164489746, 4.356044769287109, 0.09296399354934692]}, "robot_pose": [[5.577812194824219, 3.8425538539886475, 0.005285382270812988], [-4.5515596866607666e-05, 6.71667221467942e-05, 0.48889410495758057, 0.8723431825637817]]}} +{"step": 5346, "event": "approach_candidates", "key": "deposit:can_of_soda_115", "target": [5.843520164489746, 4.356044769287109], "evaluated": 33, "traversable": 13, "previously_tried": 2, "chosen": {"xy": [5.725472058378055, 3.583927780325305], "yaw": 1.093283152137448, "delta": 0.0, "distance": 0.74}} +{"step": 5469, "event": "primitive_failure", "operation": "deposit:can_of_soda_115", "reason": "navigation_stalled", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..431bb5fbad6d097bfd664d9525694e870cded8b8 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5469 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 608, in deposit\n self.approach(\"deposit:\" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 171, in approach\n self.route(np.r_[chosen[\"xy\"], chosen[\"yaw\"]])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 140, in route\n self.r.navigate(goal)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 506, in navigate\n raise RecoveryFailure(\"navigation_stalled\")\ntask01_recovery.control.RecoveryFailure: navigation_stalled\n", + "steps": 5469, + "final_task": { + "inside": { + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": "can_of_soda_115", + "right": null + }, + "eef_world": { + "left": [ + [ + 5.703660011291504, + 4.257670879364014, + 0.21145567297935486 + ], + [ + 0.006631115917116404, + 0.9999756217002869, + 0.0021830082405358553, + -0.0002069914189632982 + ] + ], + "right": [ + [ + 6.377735614776611, + 3.9358367919921875, + 0.6193786263465881 + ], + [ + -0.5039153099060059, + 0.7558605670928955, + -0.09939905256032944, + 0.40603458881378174 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_1": [ + 5.699995994567871, + 4.259960174560547, + 0.1975087970495224 + ], + "can__of__soda.n.01_2": [ + 5.968973159790039, + 4.407104015350342, + 0.041191216558218 + ], + "can__of__soda.n.01_3": [ + 2.9929826259613037, + 3.385714292526245, + 0.0368480384349823 + ], + "ashcan.n.01_1": [ + 5.848583221435547, + 4.330869674682617, + 0.09299736469984055 + ] + }, + "robot_pose": [ + [ + 5.63361120223999, + 3.580579996109009, + 0.00689321756362915 + ], + [ + -0.0024836407974362373, + -0.004291109275072813, + 0.5195998549461365, + 0.8543955087661743 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1321 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e52033b3ca89b6f435d982c325419561295b1b5d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a6e87bf547d7c06ab1aadce16c88f8816344cdd07c1ac761bbe94f700923e84 +size 382125 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..df8162fd709ee10c0b286593471c7a4109fc5b0c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/run.log @@ -0,0 +1,681 @@ +RECOVERY building environment +[00:00:03.462] [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_181627.log +[0.056s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.110s] [ext: omni.metrics.core-0.0.3] startup +[0.110s] [ext: omni.client.lib-1.1.0] startup +[0.119s] [ext: omni.blobkey-1.1.2] startup +[0.119s] [ext: omni.stats-1.0.1] startup +[0.119s] [ext: omni.datastore-0.0.0] startup +[0.123s] [ext: omni.client-1.3.0] startup +[0.126s] [ext: omni.ujitso.default-1.0.0] startup +[0.127s] [ext: omni.hsscclient-1.1.2] startup +[0.131s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.132s] [ext: omni.assets.plugins-0.0.0] startup +[0.133s] [ext: omni.gpu_foundation-0.0.0] startup +[0.137s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-20T10:16:27Z [113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:27Z [113ms] [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) +[0.138s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-20T10:16:27Z [138ms] [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: 53205 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-20T10:16:27Z [670ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.822s] [ext: omni.materialx.libs-1.0.7] startup +[0.828s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.829s] [ext: omni.kit.test-2.0.1] startup +[0.843s] [ext: omni.usd.config-1.0.6] startup +[0.845s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.845s] [ext: omni.usd.libs-1.0.1] startup +[0.939s] [ext: omni.kit.telemetry-0.5.2] startup +[0.963s] [ext: omni.mdl-56.0.3] startup +[0.988s] [ext: omni.iray.libs-0.0.0] startup +[0.995s] [ext: omni.mdl.neuraylib-0.2.12] startup +[0.997s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.070s] [ext: omni.kit.pipapi-0.0.0] startup +[1.071s] [ext: omni.appwindow-1.1.10] startup +2026-09-20T10:16:28Z [1,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,047ms] [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) +[1.073s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-20T10:16:28Z [1,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,071ms] [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) +2026-09-20T10:16:28Z [1,077ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,077ms] [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) +[1.103s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.104s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-20T10:16:28Z [1,083ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,083ms] [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) +2026-09-20T10:16:28Z [1,084ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,084ms] [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) +2026-09-20T10:16:28Z [1,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:16:28Z [1,085ms] [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) +[1.159s] [ext: omni.ui-2.27.1] startup +[1.166s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.166s] [ext: carb.audio-0.1.0] startup +[1.170s] [ext: omni.uiaudio-1.0.0] startup +[1.171s] [ext: omni.kit.uiapp-0.0.0] startup +[1.171s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.173s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.177s] [ext: omni.usd_resolver-1.0.0] startup +[1.180s] [ext: omni.usd.core-1.5.3] startup +[1.183s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.200s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.219s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.221s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.223s] [ext: omni.kit.actions.core-1.0.0] startup +[1.225s] [ext: omni.activity.core-1.0.3] startup +[1.226s] [ext: omni.kit.commands-1.4.10] startup +[1.228s] [ext: usdrt.scenegraph-7.6.1] startup +[1.251s] [ext: omni.resourcemonitor-107.0.1] startup +[1.252s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.253s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.260s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.260s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.263s] [ext: omni.graph.exec-0.9.6] startup +[1.263s] [ext: omni.timeline-1.0.14] startup +[1.264s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.265s] [ext: omni.kit.exec.core-0.13.4] startup +[1.266s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.271s] [ext: omni.usd-1.13.10] startup +[1.294s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.303s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.303s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.308s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.315s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.319s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.320s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.320s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.343s] [ext: omni.inspect-1.0.2] startup +[1.344s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.345s] [ext: omni.graph.core-2.184.5] startup +[1.347s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.348s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.348s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.354s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.356s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.357s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.360s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.360s] [ext: omni.kit.clipboard-1.0.5] startup +[1.360s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.366s] [ext: omni.ui.scene-1.11.5] startup +[1.369s] [ext: omni.index.libs-380600.8087.0] startup +[1.369s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.374s] [ext: omni.index-1.0.1] startup +[1.375s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.375s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.377s] [ext: omni.volume-0.5.2] startup +[1.379s] [ext: omni.ujitso.client-0.0.0] startup +[1.379s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.380s] [ext: omni.kit.menu.core-1.1.2] startup +[1.380s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-20T10:16:28Z [1,371ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.410s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.411s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.413s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.414s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.418s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.423s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.427s] [ext: omni.kit.context_menu-1.8.6] startup +[1.428s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.430s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.431s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.432s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.438s] [ext: omni.kit.material.library-2.0.7] startup +[1.441s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.441s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.444s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.454s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.455s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.455s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.456s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.456s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.457s] [ext: omni.kit.browser.core-2.3.13] startup +[1.458s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.459s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.465s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.467s] [ext: omni.kit.window.file-2.0.5] startup +[1.469s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.469s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.470s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.471s] [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 +[1.485s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.491s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.492s] [ext: omni.graph.action_core-1.1.7] startup +[1.493s] [ext: omni.graph-1.141.2] startup +[1.518s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.518s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.521s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.528s] [ext: omni.kit.window.stage-2.6.1] startup +[1.535s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.535s] [ext: omni.graph.action-1.130.0] startup +[1.536s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.537s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.539s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.540s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.545s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.554s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.557s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.558s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.558s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.566s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.567s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.568s] [ext: omni.kit.window.property-1.12.1] startup +[1.570s] [ext: omni.ui_query-1.1.8] startup +[1.571s] [ext: omni.kit.property.usd-4.5.12] startup +[1.577s] [ext: omni.kit.menu.create-2.0.1] startup +[1.578s] [ext: isaacsim.core.version-2.0.6] startup +[1.579s] [ext: omni.kit.ui_test-1.3.7] startup +[1.580s] [ext: omni.kit.scripting-107.3.2] startup +[1.582s] [ext: omni.convexdecomposition-107.3.26] startup +[1.585s] [ext: isaacsim.storage.native-1.5.1] startup +[1.586s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.592s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.594s] [ext: omni.kvdb-107.3.26] startup +[1.596s] [ext: omni.usdphysics-107.3.26] startup +[1.598s] [ext: omni.physx.foundation-107.3.26] startup +[1.599s] [ext: omni.localcache-107.3.26] startup +[1.600s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.604s] [ext: omni.physx.cooking-107.3.26] startup +[1.607s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.608s] [ext: omni.physx-107.3.26] startup +[1.615s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.619s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.620s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.623s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.629s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.631s] [ext: isaacsim.gui.components-1.2.1] startup +[1.633s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.636s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.698s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.701s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.712s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.718s] [ext: omni.fabric.commands-1.1.6] startup +[1.720s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.721s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.723s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.737s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.739s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.740s] [ext: omni.debugdraw-0.1.4] startup +[1.746s] [ext: omni.physics-107.3.26] startup +[1.749s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.767s] [ext: omni.physx.commands-107.3.26] startup +[1.772s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.774s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.776s] [ext: omni.physx.ui-107.3.26] startup +[1.798s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.803s] [ext: omni.physx.supportui-107.3.26] startup +[1.813s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.815s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.817s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.823s] [ext: omni.physics.physx-107.3.26] startup +2026-09-20T10:16:28Z [1,802ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.827s] [ext: omni.physics.tensors-107.3.26] startup +[1.832s] [ext: omni.warp.core-1.8.2] startup +[1.944s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.946s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:16:29Z [1,926ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.951s] [ext: omni.physx.tensors-107.3.26] startup +[1.956s] [ext: isaacsim.core.utils-3.5.1] startup +[1.960s] [ext: omni.graph.image.core-0.6.1] startup +[1.961s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.045s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.047s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.048s] [ext: isaacsim.core.prims-0.6.1] startup +[2.062s] [ext: omni.syntheticdata-0.6.13] startup +[2.073s] [ext: isaacsim.core.api-4.8.0] startup +[2.087s] [ext: omni.videoencoding-0.1.2] startup +[2.090s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.091s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.094s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.095s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.095s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.099s] [ext: omni.graph.nodes-1.170.10] startup +[2.107s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.110s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.113s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:16:29Z [2,089ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.114s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.119s] [ext: omni.warp-1.8.2] startup +[2.123s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.132s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.133s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.146s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.175s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:16:29Z [2,169ms] [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 +2026-09-20T10:16:29Z [2,268ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:16:29Z [2,268ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:16:29Z [2,269ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.295s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.299s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.303s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.313s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:16:29Z [2,290ms] [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. +[2.315s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.324s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.418s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.459s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.497s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.499s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:16:29Z [2,478ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.550s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.551s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:16:29Z [2,580ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. 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. +[2.610s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:16:29Z [2,589ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.620s] [ext: omni.anim.curve.core-1.3.1] startup +[2.642s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:16:29Z [2,619ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:16:29Z [2,620ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:16:29Z [2,638ms] [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. +[2.663s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.674s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:16:29Z [2,652ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.677s] [ext: omni.kit.selection-0.1.6] startup +[2.680s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.691s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:16:29Z [2,668ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,668ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,668ms] [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. +2026-09-20T10:16:29Z [2,670ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,670ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,671ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,671ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,671ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,672ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:16:29Z [2,672ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.698s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.712s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.718s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.726s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:16:29Z [2,703ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.729s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.740s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:16:29Z [2,718ms] [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. +2026-09-20T10:16:29Z [2,718ms] [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. +2026-09-20T10:16:29Z [2,718ms] [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. +2026-09-20T10:16:29Z [2,718ms] [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. +2026-09-20T10:16:29Z [2,719ms] [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. +2026-09-20T10:16:29Z [2,720ms] [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. +2026-09-20T10:16:29Z [2,721ms] [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. +2026-09-20T10:16:29Z [2,721ms] [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. +2026-09-20T10:16:29Z [2,721ms] [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. +2026-09-20T10:16:29Z [2,721ms] [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. +2026-09-20T10:16:29Z [2,721ms] [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. +2026-09-20T10:16:29Z [2,722ms] [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. +2026-09-20T10:16:29Z [2,722ms] [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. +2026-09-20T10:16:29Z [2,722ms] [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. +2026-09-20T10:16:29Z [2,722ms] [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. +2026-09-20T10:16:29Z [2,722ms] [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. +[2.747s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:16:29Z [2,724ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.749s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:16:29Z [2,728ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:16:29Z [2,731ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.756s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:16:29Z [2,732ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.757s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:16:29Z [2,734ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.760s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.768s] [ext: omni.isaac.utils-2.0.6] startup +[2.770s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.791s] [ext: isaacsim.app.about-2.0.11] startup +[2.795s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:16:29Z [2,771ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.797s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.799s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:16:29Z [2,776ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:16:29Z [2,777ms] [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. +2026-09-20T10:16:29Z [2,777ms] [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. +2026-09-20T10:16:29Z [2,778ms] [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. +2026-09-20T10:16:29Z [2,779ms] [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. +2026-09-20T10:16:29Z [2,779ms] [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. +2026-09-20T10:16:29Z [2,780ms] [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. +2026-09-20T10:16:29Z [2,783ms] [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. +2026-09-20T10:16:29Z [2,784ms] [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. +2026-09-20T10:16:29Z [2,784ms] [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. +2026-09-20T10:16:29Z [2,785ms] [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. +2026-09-20T10:16:29Z [2,789ms] [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. +[2.814s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:16:29Z [2,801ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:16:29Z [2,802ms] [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. +[2.828s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.836s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:16:29Z [2,811ms] [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. +[2.836s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.845s] [ext: omni.kit.property.audio-1.0.16] startup +[2.846s] [ext: omni.kit.property.camera-1.0.10] startup +[2.847s] [ext: omni.sensors.net-1.0.0] startup +[2.850s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.853s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.855s] [ext: omni.kit.property.light-1.0.12] startup +[2.904s] [ext: omni.kit.property.material-1.11.9] startup +[2.910s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.911s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.913s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.917s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.924s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.928s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.931s] [ext: omni.kit.property.render-1.2.1] startup +[2.932s] [ext: omni.kit.property.transform-1.5.13] startup +[2.935s] [ext: isaacsim.gui.property-1.1.3] startup +[2.936s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.941s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.948s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.955s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.959s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.961s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:16:30Z [2,937ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:16:30Z [2,937ms] [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. +[2.962s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:16:30Z [2,940ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:16:30Z [2,940ms] [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. +[2.965s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.979s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,956ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,956ms] [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. +2026-09-20T10:16:30Z [2,957ms] [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. +2026-09-20T10:16:30Z [2,957ms] [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. +2026-09-20T10:16:30Z [2,957ms] [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. +2026-09-20T10:16:30Z [2,957ms] [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. +[2.982s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:16:30Z [2,959ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.984s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.989s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.999s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.002s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.005s] [ext: omni.ocio-0.1.1] startup +[3.008s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.013s] [ext: omni.kit.window.console-1.1.4] startup +[3.020s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.026s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:16:30Z [3,002ms] [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. +[3.027s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.032s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.036s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.044s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:16:30Z [3,020ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.045s] [ext: semantics.schema.editor-2.0.2] startup +[3.049s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.050s] [ext: semantics.schema.property-2.0.1] startup +[3.051s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:16:30Z [3,027ms] [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. +2026-09-20T10:16:30Z [3,027ms] [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. +2026-09-20T10:16:30Z [3,027ms] [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. +[3.052s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:16:30Z [3,029ms] [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. +2026-09-20T10:16:30Z [3,029ms] [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. +2026-09-20T10:16:30Z [3,029ms] [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. +2026-09-20T10:16:30Z [3,029ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.054s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.062s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.067s] [ext: omni.kit.menu.common-2.0.1] startup +[3.068s] [ext: isaacsim.exp.base-5.1.0] startup +[3.069s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.070s] Simulation App Starting +2026-09-20T10:16:30Z [3,535ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.583s] app ready +[5.772s] Simulation App Startup Complete +[6.114s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:16:33Z [6,235ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:16:34Z [7,214ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.740] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.813] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:17:31Z [63,870ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:17:33Z [66,335ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,335ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,335ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,335ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,336ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,336ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,549ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,589ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,589ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,621ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,621ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,656ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,656ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,656ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,656ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,662ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:33Z [66,662ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,420ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,426ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,426ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,445ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,445ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,454ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,454ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,615ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,615ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,615ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:34Z [67,615ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,903ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,903ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,903ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,903ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,927ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,927ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,927ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:35Z [67,927ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:35Z [68,020ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:17:35Z [68,020ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:17:36Z [68,995ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:12.794] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.833] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:17:45Z [77,930ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:22.261] [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. +[00:01:22.264] [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. +2026-09-20T10:17:45Z [78,773ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:17:45Z [78,774ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:17:45Z [78,775ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:17:45Z [78,776ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:17:48Z [81,708ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:17:58Z [91,099ms] [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 +2026-09-20T10:18:08Z [101,239ms] [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 +2026-09-20T10:18:13Z [106,773ms] [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': False, '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': False, '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': False, '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': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T10:20:33Z [246,592ms] [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': False, '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': False, '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_can_for_drop {'can__of__soda.n.01_1': False, '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 orient_can_for_drop {'can__of__soda.n.01_1': False, '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 orient_can_for_drop {'can__of__soda.n.01_1': False, '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 park_can_for_ground {'can__of__soda.n.01_1': False, '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 1320 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_1': False, '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 1440 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 1920 release_into_grounded_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 2880 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 3120 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 3240 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T10:28:50Z [742,915ms] [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 3360 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 3480 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 3600 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 3720 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 3840 recover_and_reobserve {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 3960 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 4080 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 4200 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T10:32:44Z [977,776ms] [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 4320 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 4440 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 4560 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 4680 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 4800 recover_and_reobserve {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 4920 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 5040 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 5160 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T10:36:45Z [1,218,090ms] [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 5280 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 5400 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 608, in deposit + self.approach("deposit:" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 171, in approach + self.route(np.r_[chosen["xy"], chosen["yaw"]]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 140, in route + self.r.navigate(goal) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 506, in navigate + raise RecoveryFailure("navigation_stalled") +task01_recovery.control.RecoveryFailure: navigation_stalled + +2026-09-20T10:38:20Z [1,313,341ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:38:20Z [1,313,341ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:38:20Z [1,313,341ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1313.475s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..dfc38062302c1b65542130558749b78a9acc3f24 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:964727008b2004b84d19d55d0fa2241ad8a2e3eb1ed1beb373ae7480f5377796 +size 5597 diff --git 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c9098957a5cea477a57016b131ed39a4b6891a53 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3603d645ffb386b249f4f8e3af7e944641aa73bb15b70d2970152375cfdaadd +size 9615596 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/case.json new file mode 100644 index 0000000000000000000000000000000000000000..cee2fe7fee186b182953e2a6f4e3691547824827 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019430-f008339", + "kind": "vla", + "episode_id": "00019430", + "instance_id": 943, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019430.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019430.json", + "frame": 8339, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 8339, + 10535 + ], + "reason": "After the trash can grasp lands, nothing productive follows: right hand holds trash_can_116 from f8338 to end (no release in transitions; wrist view shows continuous close-up of trash-can interior at f8400/8600/9000/9500/10000/10525), and no can grasp is attempted with either hand (head + wrist sweep at stride 200 shows only navigation). Seed at row start because progress toward the next expected action (phase B pick-can) never begins \u2014 no earlier frame within this row shows recoverable progress. Right is occupied so recovery must use the left arm; any of the three cans is a legitimate target and can_of_soda_113 is chosen arbitrarily. The seed state (right hand holding trash can while left approaches a can) is not represented in the demo episodes examined for the task card." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..dec2519d9b302d1fba50d968dd32b31f70596865 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019430-f008339/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019430-f008339", + "episode_id": "00019430", + "instance_id": 943, + "start_type": "judgement_seed", + "source_frame": 8339, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:43:45+00:00", + "success": false, + "status": "error", + "error": "navigation_stalled", + "teacher_steps": 5469, + "dataset_frames": 5469, + "dataset_passed": true, + "supervised_frames": 3117, + "dataset_root": "runs/vla-episode_00019430-f008339/attempt_001/dataset", + "video": "runs/vla-episode_00019430-f008339/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 321 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e25de9434f6274012b44e51aa6f96efea4e9c5de --- 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From f3850-f4131 (281 frames) can remained stationary at rim with no progress toward interior. 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"rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1874, "event": "joint_tracking", "max_error_rad": 0.0008329339325428009} +{"step": 1874, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.273187160491943, 5.623397350311279, 0.20490646362304688], "desired_xyz": [4.28495454788208, 5.63094425201416, 0.22294612824916848], "error_m": 0.022822283652724984} +{"step": 1874, "event": "eef_target", "arm": "right", "body_xyz": [0.6522251456759114, -0.19476229035082235, 0.2215988332314731], "world_xyz": [4.28495454788208, 5.63094425201416, 0.2604461282491685], "held": {"left": null, "right": null}} +{"step": 1874, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1874, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1894, "event": "joint_tracking", "max_error_rad": 0.0005142278969287872} +{"step": 1902, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.264898300170898, 5.618412017822266, 0.23255300521850586], "desired_xyz": [4.28495454788208, 5.63094425201416, 0.2604461282491685], "error_m": 0.03656960867300131} +{"step": 1902, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_arm_link3", "body1": "/World/scene_0/coffee_table_koagbh_0/base_link"}], "actual_q": [-3.3466620445251465, 1.9258300065994263, -0.007979149930179119, -0.026038359850645065, 0.007632511202245951, -2.969562292098999, 1.3495044708251953, -0.05127227306365967, 0.13102346658706665, -0.9454706311225891, 0.42595458030700684, -0.17939996719360352, -0.018295451998710632, 0.0767362043261528, 0.6992729902267456, 1.1137752532958984, 0.3489871025085449, -1.1502021551132202, 1.4361166954040527, -0.20023177564144135, -0.4776676297187805, 0.18097446858882904, -1.239967942237854, -0.3539375960826874, 0.04999987781047821, 0.04999992251396179, 0.04999990016222, 0.04999958723783493]} +{"step": 1902, "event": "actions_rejected", "start": 1854, "end": 1902, "reason": "eef_execution_blocked"} +{"step": 1902, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 3} +{"step": 1902, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_114"} +{"step": 1902, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[4.201778888702393, 5.0215559005737305, 0.3278093934059143], [0.9620328545570374, 0.08220940083265305, 0.1895701140165329, 0.1783187836408615]], "right": [[4.264898300170898, 5.618412017822266, 0.23255300521850586], [0.9612393975257874, -0.25409191846847534, 0.04830998182296753, -0.09551034867763519]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.759533405303955, 5.77325963973999, 0.06714286655187607], "can__of__soda.n.01_2": [4.315013408660889, 5.624809265136719, 0.0714571550488472], "can__of__soda.n.01_1": [4.201287746429443, 6.133256912231445, 0.0714574009180069], "ashcan.n.01_1": [4.781947612762451, 5.775032043457031, 0.13483570516109467]}, "robot_pose": [[4.734803199768066, 5.126916408538818, 0.00805625319480896], [-0.00589859951287508, -0.006176000460982323, -0.9673336744308472, -0.25336262583732605]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..ed78acf077e0e2e88b2358a25d5d4e563cc65747 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1910 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.969s] [ext: omni.physics.tensors-107.3.26] startup +[1.977s] [ext: omni.warp.core-1.8.2] startup +[2.090s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.091s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:17:59Z [2,086ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.097s] [ext: omni.physx.tensors-107.3.26] startup +[2.102s] [ext: isaacsim.core.utils-3.5.1] startup +[2.104s] [ext: omni.graph.image.core-0.6.1] startup +[2.107s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.182s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.185s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.186s] [ext: isaacsim.core.prims-0.6.1] startup +[2.201s] [ext: omni.syntheticdata-0.6.13] startup +[2.211s] [ext: isaacsim.core.api-4.8.0] startup +[2.319s] [ext: omni.videoencoding-0.1.2] startup +[2.322s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.323s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.325s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.326s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.326s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.329s] [ext: omni.graph.nodes-1.170.10] startup +[2.337s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.340s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.343s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:17:59Z [2,333ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.344s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.349s] [ext: omni.warp-1.8.2] startup +[2.354s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.368s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.372s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.393s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.488s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:17:59Z [2,498ms] [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 +2026-09-20T10:18:00Z [2,569ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:18:00Z [2,569ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:18:00Z [2,570ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.582s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.586s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.591s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.601s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:18:00Z [2,594ms] [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. +[2.606s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.616s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.641s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.657s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.668s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.674s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:18:00Z [2,671ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.713s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.718s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:18:00Z [2,719ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.731s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:18:00Z [2,740ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.750s] [ext: omni.anim.curve.core-1.3.1] startup +[2.888s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:18:00Z [2,911ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:18:00Z [2,911ms] [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. +2026-09-20T10:18:00Z [2,985ms] [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. +[2.995s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.004s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:18:00Z [2,995ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.005s] [ext: omni.kit.selection-0.1.6] startup +[3.009s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.016s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:18:00Z [3,007ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,007ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,007ms] [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. +2026-09-20T10:18:00Z [3,008ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,008ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,008ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,009ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,010ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,011ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:18:00Z [3,011ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.021s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.033s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.041s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.045s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:18:00Z [3,037ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.047s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.052s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:18:00Z [3,044ms] [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. +2026-09-20T10:18:00Z [3,044ms] [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. +2026-09-20T10:18:00Z [3,044ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,045ms] [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. +2026-09-20T10:18:00Z [3,046ms] [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. +2026-09-20T10:18:00Z [3,047ms] [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. +2026-09-20T10:18:00Z [3,048ms] [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. +2026-09-20T10:18:00Z [3,049ms] [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. +2026-09-20T10:18:00Z [3,050ms] [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. +2026-09-20T10:18:00Z [3,050ms] [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. +2026-09-20T10:18:00Z [3,057ms] [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. +[3.068s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:18:00Z [3,061ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.072s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:18:00Z [3,065ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:18:00Z [3,068ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.078s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:18:00Z [3,070ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.081s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:18:00Z [3,073ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.085s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.092s] [ext: omni.isaac.utils-2.0.6] startup +[3.096s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.113s] [ext: isaacsim.app.about-2.0.11] startup +[3.118s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:18:00Z [3,110ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.121s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.124s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:18:00Z [3,118ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:18:00Z [3,121ms] [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. +2026-09-20T10:18:00Z [3,121ms] [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. +2026-09-20T10:18:00Z [3,122ms] [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. +2026-09-20T10:18:00Z [3,123ms] [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. +2026-09-20T10:18:00Z [3,123ms] [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. +2026-09-20T10:18:00Z [3,123ms] [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. +2026-09-20T10:18:00Z [3,124ms] [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. +2026-09-20T10:18:00Z [3,124ms] [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. +2026-09-20T10:18:00Z [3,124ms] [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. +2026-09-20T10:18:00Z [3,124ms] [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. +2026-09-20T10:18:00Z [3,126ms] [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. +[3.137s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:18:00Z [3,150ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:18:00Z [3,151ms] [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. +[3.161s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.175s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:18:00Z [3,165ms] [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. +[3.176s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.186s] [ext: omni.kit.property.audio-1.0.16] startup +[3.193s] [ext: omni.kit.property.camera-1.0.10] startup +[3.200s] [ext: omni.sensors.net-1.0.0] startup +[3.208s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.214s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.217s] [ext: omni.kit.property.light-1.0.12] startup +[3.271s] [ext: omni.kit.property.material-1.11.9] startup +[3.279s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.281s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.283s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.291s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.302s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.309s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.312s] [ext: omni.kit.property.render-1.2.1] startup +[3.314s] [ext: omni.kit.property.transform-1.5.13] startup +[3.318s] [ext: isaacsim.gui.property-1.1.3] startup +[3.320s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.329s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.339s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.349s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.353s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.356s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:18:00Z [3,347ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:18:00Z [3,347ms] [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. +[3.357s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:18:00Z [3,349ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:18:00Z [3,349ms] [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. +[3.361s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.375s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:18:00Z [3,366ms] [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. +2026-09-20T10:18:00Z [3,366ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:18:00Z [3,366ms] [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. +2026-09-20T10:18:00Z [3,366ms] [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. +2026-09-20T10:18:00Z [3,367ms] [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. +2026-09-20T10:18:00Z [3,367ms] [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. +2026-09-20T10:18:00Z [3,367ms] [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. +2026-09-20T10:18:00Z [3,367ms] [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. +2026-09-20T10:18:00Z [3,367ms] [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. +2026-09-20T10:18:00Z [3,368ms] [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. +2026-09-20T10:18:00Z [3,368ms] [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. +[3.378s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:18:00Z [3,371ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.381s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.386s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.395s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.400s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.402s] [ext: omni.ocio-0.1.1] startup +[3.405s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.413s] [ext: omni.kit.window.console-1.1.4] startup +[3.418s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.422s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:18:00Z [3,416ms] [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. +[3.426s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.431s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.437s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.446s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:18:00Z [3,437ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.447s] [ext: semantics.schema.editor-2.0.2] startup +[3.451s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.452s] [ext: semantics.schema.property-2.0.1] startup +[3.453s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:18:00Z [3,444ms] [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. +2026-09-20T10:18:00Z [3,444ms] [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. +2026-09-20T10:18:00Z [3,444ms] [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. +[3.454s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:18:00Z [3,446ms] [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. +2026-09-20T10:18:00Z [3,446ms] [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. +2026-09-20T10:18:00Z [3,446ms] [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. +2026-09-20T10:18:00Z [3,446ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.456s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.465s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.470s] [ext: omni.kit.menu.common-2.0.1] startup +[3.472s] [ext: isaacsim.exp.base-5.1.0] startup +[3.473s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.474s] Simulation App Starting +2026-09-20T10:18:00Z [3,507ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:18:01Z [3,528ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-09-20T10:18:01Z [3,549ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-09-20T10:18:01Z [3,549ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-09-20T10:18:01Z [3,550ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +[3.576s] app ready +[5.299s] Simulation App Startup Complete +[5.560s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:18:03Z [5,653ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:18:03Z [6,502ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.268] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.374] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:18:54Z [57,377ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:18:57Z [59,699ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,699ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,817ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,817ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,881ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,881ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,915ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,915ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,916ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,916ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,982ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,983ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,983ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,983ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,983ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,983ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:57Z [59,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,654ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,654ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,681ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,719ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,724ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,724ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,869ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,869ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [60,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,147ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,147ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,147ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,147ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:18:58Z [61,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:18:59Z [62,105ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:06.169] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:06.208] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:19:07Z [69,850ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:14.334] [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. +[00:01:14.337] [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. +2026-09-20T10:19:08Z [70,597ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:19:08Z [70,598ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:19:08Z [70,599ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:19:08Z [70,600ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:19:10Z [73,149ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:19:15Z [77,577ms] [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 +2026-09-20T10:19:15Z [77,648ms] [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 +2026-09-20T10:19:20Z [82,770ms] [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 +2026-09-20T10:19:20Z [82,841ms] [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 +2026-09-20T10:19:23Z [86,114ms] [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 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 240 lower_bin_for_reachable_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 360 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 480 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 600 recover_and_reobserve {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 720 park_can_for_ground {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 840 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 960 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1440 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1800 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1479, in run + raise RecoveryFailure("grounded_rim_regrasp_budget_exhausted") +task01_recovery.control.RecoveryFailure: grounded_rim_regrasp_budget_exhausted + +2026-09-20T10:25:20Z [442,848ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:25:20Z [442,848ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:25:20Z [442,848ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[442.958s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..731005b49efc5a5fe46e8da00421c3f2f508f0f4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a29f832b8dfc09c4328b5fbfbd213eb4ca7231eb41e79d6c11fa5049ca114725 +size 2038 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..488892d2735553e4cae4ee58ecdf2db84f7ea7f3 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:084b2cda77db27ffcda03a2dcd75a205fb9cdba70202289614879eaaabaa963c +size 29929255 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..679a46987e128adc4731ad77448094f7bcfdf8bc --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9242cbc7079ae3627ed9f646e3b05f44f349786d15e85c1fca6ef13e7f32d084 +size 3621286 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/case.json new file mode 100644 index 0000000000000000000000000000000000000000..f81c1f0e38736a47e4cde6002a6cd9fb2da538af --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019440-f003850", + "kind": "vla", + "episode_id": "00019440", + "instance_id": 944, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019440.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019440.json", + "frame": 3850, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 2328, + 4131 + ], + "reason": "Right hand grasped can at f3240, carried to trash can, established contact at rim f3576, continued refining position through f3850. From f3850-f4131 (281 frames) can remained stationary at rim with no progress toward interior. Cut at f3850 keeps productive approach and maneuvering, removes only the frozen span." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..9543b27a076f9230ed6df6f9769bb05b5a64dc83 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f003850/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019440-f003850", + "episode_id": "00019440", + "instance_id": 944, + "start_type": "judgement_seed", + "source_frame": 3850, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:26:54+00:00", + "success": false, + "status": "error", + "error": "grounded_rim_regrasp_budget_exhausted", + "teacher_steps": 1910, + "dataset_frames": 1910, + "dataset_passed": true, + "supervised_frames": 880, + "dataset_root": "runs/vla-episode_00019440-f003850/attempt_001/dataset", + "video": "runs/vla-episode_00019440-f003850/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": "trash_can_116", + "right": "can_of_soda_113" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 90 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a6ded643d4b79ccde683bb5dc557926e636228db --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a64303d519daca0d7a3c4c16a86ab48765a06fcda39499c437e012b553c53db3 +size 3070539 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2b160f82d7dcec5866538ae884ba1c22c37daece --- /dev/null +++ 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"case": { + "case_id": "vla-episode_00019440-f004132", + "kind": "vla", + "episode_id": "00019440", + "instance_id": 944, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019440.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019440.json", + "frame": 4132, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4132, + 5926 + ], + "reason": "Out-of-order action: trash can contacted floor (OnTop fired f5926) before any cans successfully placed. Task card shows trash can placed back on floor in phase D (198/200 demos), only after all cans collected. Seed at first frame because entire action should not have run. Execution also problematic: grasp log shows trash can never released from left hand, but OnTop(trash_can, floor) fired \u2014 contradictory, but floor contact should not occur at this point in plan regardless." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..993bda83f8c82a66dc49cad2a9acb51bf1d7e74e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/events.jsonl @@ -0,0 +1,1225 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/base_link", "body1": "/World/scene_0/can_of_soda_115/base_link"}], "actual_q": [-4.086891174316406, 2.290354013442993, 0.0005364593816921115, -0.03287903219461441, -0.07656286656856537, 0.7739617228507996, 1.4695675373077393, -1.6210821866989136, -1.3587884902954102, 0.13203953206539154, -0.3110097348690033, -0.8074504733085632, 0.7704395055770874, -0.49340584874153137, -0.18668970465660095, 0.6931718587875366, -0.18687455356121063, -1.6000456809997559, 1.057430624961853, -1.0771690607070923, 0.2443896234035492, 0.72516930103302, -0.8747014999389648, -0.8711684346199036, 0.049999989569187164, 0.04999956488609314, 0.03810029476881027, 0.037096817046403885]} +{"step": 5797, "event": "actions_rejected", "start": 5766, "end": 5797, "reason": "eef_execution_blocked"} +{"step": 5797, "event": "descent_blocked_below_rim", "can_low_z": 0.1917007565498352, "rim_z": 0.20222032070159912} +{"step": 5797, "event": "can_entered_volume", "entered": false, "blocked_below_rim": true} +{"step": 5852, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "placement_bddl_false", "attempt": 5} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..ec11d161dbfe2fdd8d96f2bbdc60bbb3ab6fb71c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5852 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 721, in deposit\n raise RecoveryFailure(\"placement_bddl_false\")\ntask01_recovery.control.RecoveryFailure: placement_bddl_false\n", + "steps": 5852, + "final_task": { + "inside": { + "can__of__soda.n.01_3": true, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 4.599501609802246, + 6.561163425445557, + 0.39540109038352966 + ], + [ + -0.409777969121933, + 0.9039046764373779, + 0.03228176012635231, + -0.11830619722604752 + ] + ], + "right": [ + [ + 5.112081527709961, + 5.7475762367248535, + 0.20143595337867737 + ], + [ + -0.12173634022474289, + 0.9925252795219421, + -0.007986466400325298, + 0.0031886857468634844 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 5.112241268157959, + 5.724855422973633, + 0.06183195859193802 + ], + "can__of__soda.n.01_2": [ + 5.092409133911133, + 5.753152370452881, + 0.2134103924036026 + ], + "can__of__soda.n.01_1": [ + 4.19248104095459, + 6.142172813415527, + 0.07384715974330902 + ], + "ashcan.n.01_1": [ + 5.128705978393555, + 5.727604866027832, + 0.09305629134178162 + ] + }, + "robot_pose": [ + [ + 4.39177131652832, + 5.876725673675537, + 0.008988618850708008 + ], + [ + -0.00973052904009819, + -0.0059932563453912735, + 0.044483911246061325, + 0.998944878578186 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1392 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9b37bff2d9818d1e814dd63df0ea6f4d2cbb2bb0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3e22277d1e3e4b05be50e905339cca1be2870b1f6bacec80610594d6061983d +size 453364 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..97d42a6277c88da85874e59f3e4fc1a8443f0663 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/run.log @@ -0,0 +1,680 @@ +RECOVERY building environment +[00:00:04.081] [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_230420.log +[0.060s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.342s] [ext: omni.metrics.core-0.0.3] startup +[0.342s] [ext: omni.client.lib-1.1.0] startup +[0.351s] [ext: omni.blobkey-1.1.2] startup +[0.351s] [ext: omni.stats-1.0.1] startup +[0.352s] [ext: omni.datastore-0.0.0] startup +[0.358s] [ext: omni.client-1.3.0] startup +[0.361s] [ext: omni.ujitso.default-1.0.0] startup +[0.362s] [ext: omni.hsscclient-1.1.2] startup +[0.419s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.420s] [ext: omni.assets.plugins-0.0.0] startup +[0.422s] [ext: omni.gpu_foundation-0.0.0] startup +[0.431s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T15:04:20Z [394ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:20Z [394ms] [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) +[0.433s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T15:04:20Z [421ms] [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: 46909 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T15:04:21Z [1,048ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.209s] [ext: omni.materialx.libs-1.0.7] startup +[1.214s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.215s] [ext: omni.kit.test-2.0.1] startup +[1.239s] [ext: omni.usd.config-1.0.6] startup +[1.244s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.245s] [ext: omni.usd.libs-1.0.1] startup +[1.359s] [ext: omni.kit.telemetry-0.5.2] startup +[1.380s] [ext: omni.mdl-56.0.3] startup +[1.396s] [ext: omni.iray.libs-0.0.0] startup +[1.399s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.401s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.487s] [ext: omni.kit.pipapi-0.0.0] startup +[1.487s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T15:04:21Z [1,449ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,449ms] [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) +[1.489s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T15:04:21Z [1,463ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,463ms] [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) +2026-09-21T15:04:21Z [1,469ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,469ms] [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) +[1.509s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.511s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T15:04:21Z [1,475ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,475ms] [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) +2026-09-21T15:04:21Z [1,476ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,476ms] [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) +2026-09-21T15:04:21Z [1,476ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:04:21Z [1,476ms] [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) +[1.554s] [ext: omni.ui-2.27.1] startup +[1.562s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.562s] [ext: carb.audio-0.1.0] startup +[1.566s] [ext: omni.uiaudio-1.0.0] startup +[1.566s] [ext: omni.kit.uiapp-0.0.0] startup +[1.566s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.568s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.572s] [ext: omni.usd_resolver-1.0.0] startup +[1.576s] [ext: omni.usd.core-1.5.3] startup +[1.578s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.595s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.613s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.615s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.618s] [ext: omni.kit.actions.core-1.0.0] startup +[1.619s] [ext: omni.activity.core-1.0.3] startup +[1.620s] [ext: omni.kit.commands-1.4.10] startup +[1.622s] [ext: usdrt.scenegraph-7.6.1] startup +[1.648s] [ext: omni.resourcemonitor-107.0.1] startup +[1.650s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.651s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.658s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.658s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.661s] [ext: omni.graph.exec-0.9.6] startup +[1.661s] [ext: omni.timeline-1.0.14] startup +[1.662s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.663s] [ext: omni.kit.exec.core-0.13.4] startup +[1.665s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.671s] [ext: omni.usd-1.13.10] startup +[1.692s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.704s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.704s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.709s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.717s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.722s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.722s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.723s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.753s] [ext: omni.inspect-1.0.2] startup +[1.754s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.755s] [ext: omni.graph.core-2.184.5] startup +[1.758s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.758s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.759s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.765s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.768s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.769s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.772s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.772s] [ext: omni.kit.clipboard-1.0.5] startup +[1.773s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.779s] [ext: omni.ui.scene-1.11.5] startup +[1.783s] [ext: omni.index.libs-380600.8087.0] startup +[1.783s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.788s] [ext: omni.index-1.0.1] startup +[1.789s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.790s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.791s] [ext: omni.volume-0.5.2] startup +[1.794s] [ext: omni.ujitso.client-0.0.0] startup +[1.794s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.795s] [ext: omni.kit.menu.core-1.1.2] startup +[1.796s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T15:04:21Z [1,781ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.836s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.836s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.839s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.840s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.844s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.849s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.854s] [ext: omni.kit.context_menu-1.8.6] startup +[1.855s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.857s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.857s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.859s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.864s] [ext: omni.kit.material.library-2.0.7] startup +[1.867s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.868s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.871s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.883s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.884s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.885s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.885s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.885s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.886s] [ext: omni.kit.browser.core-2.3.13] startup +[1.888s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.888s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.895s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.898s] [ext: omni.kit.window.file-2.0.5] startup +[1.900s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.900s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.901s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.902s] [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 +[1.917s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.924s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.925s] [ext: omni.graph.action_core-1.1.7] startup +[1.927s] [ext: omni.graph-1.141.2] startup +[1.953s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.953s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.957s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.961s] [ext: omni.kit.window.stage-2.6.1] startup +[1.969s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.970s] [ext: omni.graph.action-1.130.0] startup +[1.971s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.973s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.974s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.976s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.978s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.995s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.001s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.003s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.004s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.015s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.016s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.017s] [ext: omni.kit.window.property-1.12.1] startup +[2.020s] [ext: omni.ui_query-1.1.8] startup +[2.021s] [ext: omni.kit.property.usd-4.5.12] startup +[2.028s] [ext: omni.kit.menu.create-2.0.1] startup +[2.031s] [ext: isaacsim.core.version-2.0.6] startup +[2.032s] [ext: omni.kit.ui_test-1.3.7] startup +[2.034s] [ext: omni.kit.scripting-107.3.2] startup +[2.039s] [ext: omni.convexdecomposition-107.3.26] startup +[2.044s] [ext: isaacsim.storage.native-1.5.1] startup +[2.045s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.055s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.060s] [ext: omni.kvdb-107.3.26] startup +[2.062s] [ext: omni.usdphysics-107.3.26] startup +[2.066s] [ext: omni.physx.foundation-107.3.26] startup +[2.068s] [ext: omni.localcache-107.3.26] startup +[2.069s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.075s] [ext: omni.physx.cooking-107.3.26] startup +[2.081s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.082s] [ext: omni.physx-107.3.26] startup +[2.096s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.100s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.102s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.105s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.112s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.115s] [ext: isaacsim.gui.components-1.2.1] startup +[2.118s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.122s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.185s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.189s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.197s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.202s] [ext: omni.fabric.commands-1.1.6] startup +[2.204s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.205s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.207s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.216s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.217s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.218s] [ext: omni.debugdraw-0.1.4] startup +[2.222s] [ext: omni.physics-107.3.26] startup +[2.224s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.242s] [ext: omni.physx.commands-107.3.26] startup +[2.246s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.249s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.252s] [ext: omni.physx.ui-107.3.26] startup +[2.274s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.279s] [ext: omni.physx.supportui-107.3.26] startup +[2.289s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.291s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.293s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.297s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T15:04:22Z [2,260ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.299s] [ext: omni.physics.tensors-107.3.26] startup +[2.303s] [ext: omni.warp.core-1.8.2] startup +[2.408s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.410s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:04:22Z [2,378ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.417s] [ext: omni.physx.tensors-107.3.26] startup +[2.423s] [ext: isaacsim.core.utils-3.5.1] startup +[2.426s] [ext: omni.graph.image.core-0.6.1] startup +[2.427s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.501s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.502s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.504s] [ext: isaacsim.core.prims-0.6.1] startup +[2.519s] [ext: omni.syntheticdata-0.6.13] startup +[2.538s] [ext: isaacsim.core.api-4.8.0] startup +[2.555s] [ext: omni.videoencoding-0.1.2] startup +[2.558s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.559s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.562s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.562s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.563s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.566s] [ext: omni.graph.nodes-1.170.10] startup +[2.576s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.578s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.581s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:04:22Z [2,544ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.583s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.594s] [ext: omni.warp-1.8.2] startup +[2.601s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.619s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.623s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.643s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.688s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:04:22Z [2,674ms] [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 +2026-09-21T15:04:22Z [2,774ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:04:22Z [2,775ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:04:22Z [2,775ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.816s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.819s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.824s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.833s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:04:22Z [2,796ms] [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. +[2.835s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.843s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.896s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.989s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.993s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.032s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:04:23Z [2,999ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.052s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.092s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:04:23Z [3,101ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. 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. +[3.155s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:04:23Z [3,120ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.159s] [ext: omni.anim.curve.core-1.3.1] startup +[3.188s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:04:23Z [3,150ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:04:23Z [3,151ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:04:23Z [3,164ms] [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. +[3.203s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.218s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:04:23Z [3,180ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.219s] [ext: omni.kit.selection-0.1.6] startup +[3.221s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.225s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:04:23Z [3,188ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,188ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,188ms] [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. +2026-09-21T15:04:23Z [3,189ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,189ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,189ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,189ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,189ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,191ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:04:23Z [3,191ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.230s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.241s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.249s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.254s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:04:23Z [3,217ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.258s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.262s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:04:23Z [3,225ms] [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. +2026-09-21T15:04:23Z [3,225ms] [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. +2026-09-21T15:04:23Z [3,225ms] [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. +2026-09-21T15:04:23Z [3,226ms] [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. +2026-09-21T15:04:23Z [3,226ms] [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. +2026-09-21T15:04:23Z [3,226ms] [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. +2026-09-21T15:04:23Z [3,226ms] [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. +2026-09-21T15:04:23Z [3,227ms] [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. +2026-09-21T15:04:23Z [3,227ms] [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. +2026-09-21T15:04:23Z [3,228ms] [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. +2026-09-21T15:04:23Z [3,228ms] [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. +2026-09-21T15:04:23Z [3,229ms] [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. +2026-09-21T15:04:23Z [3,230ms] [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. +2026-09-21T15:04:23Z [3,230ms] [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. +2026-09-21T15:04:23Z [3,230ms] [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. +2026-09-21T15:04:23Z [3,230ms] [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. +[3.277s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:04:23Z [3,240ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.279s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:04:23Z [3,244ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:04:23Z [3,244ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.283s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:04:23Z [3,245ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.285s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:04:23Z [3,248ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.287s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.294s] [ext: omni.isaac.utils-2.0.6] startup +[3.296s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.306s] [ext: isaacsim.app.about-2.0.11] startup +[3.309s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:04:23Z [3,271ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.310s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.311s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:04:23Z [3,274ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:04:23Z [3,278ms] [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. +2026-09-21T15:04:23Z [3,278ms] [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. +2026-09-21T15:04:23Z [3,278ms] [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. +2026-09-21T15:04:23Z [3,278ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,279ms] [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. +2026-09-21T15:04:23Z [3,280ms] [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. +[3.318s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:04:23Z [3,286ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:04:23Z [3,286ms] [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. +[3.325s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.329s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:04:23Z [3,290ms] [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. +[3.329s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.337s] [ext: omni.kit.property.audio-1.0.16] startup +[3.339s] [ext: omni.kit.property.camera-1.0.10] startup +[3.340s] [ext: omni.sensors.net-1.0.0] startup +[3.345s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.349s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.352s] [ext: omni.kit.property.light-1.0.12] startup +[3.400s] [ext: omni.kit.property.material-1.11.9] startup +[3.404s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.406s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.409s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.415s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.422s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.426s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.429s] [ext: omni.kit.property.render-1.2.1] startup +[3.430s] [ext: omni.kit.property.transform-1.5.13] startup +[3.433s] [ext: isaacsim.gui.property-1.1.3] startup +[3.434s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.439s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.445s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.453s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.454s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.458s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:04:23Z [3,420ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:04:23Z [3,420ms] [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. +[3.459s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:04:23Z [3,423ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:04:23Z [3,425ms] [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. +[3.464s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.476s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:04:23Z [3,439ms] [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. +2026-09-21T15:04:23Z [3,439ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:04:23Z [3,439ms] [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. +2026-09-21T15:04:23Z [3,440ms] [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. +2026-09-21T15:04:23Z [3,440ms] [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. +2026-09-21T15:04:23Z [3,440ms] [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. +2026-09-21T15:04:23Z [3,440ms] [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. +2026-09-21T15:04:23Z [3,440ms] [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. +2026-09-21T15:04:23Z [3,441ms] [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. +2026-09-21T15:04:23Z [3,442ms] [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. +2026-09-21T15:04:23Z [3,442ms] [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. +[3.481s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:04:23Z [3,444ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.488s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.493s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.496s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.498s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.499s] [ext: omni.ocio-0.1.1] startup +[3.502s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.514s] [ext: omni.kit.window.console-1.1.4] startup +[3.519s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.522s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:04:23Z [3,484ms] [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. +[3.523s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.529s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.532s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.544s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:04:23Z [3,507ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.545s] [ext: semantics.schema.editor-2.0.2] startup +[3.550s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.552s] [ext: semantics.schema.property-2.0.1] startup +[3.553s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:04:23Z [3,515ms] [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. +2026-09-21T15:04:23Z [3,516ms] [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. +2026-09-21T15:04:23Z [3,516ms] [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. +[3.555s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:04:23Z [3,518ms] [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. +2026-09-21T15:04:23Z [3,518ms] [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. +2026-09-21T15:04:23Z [3,518ms] [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. +2026-09-21T15:04:23Z [3,518ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.557s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.567s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.573s] [ext: omni.kit.menu.common-2.0.1] startup +[3.575s] [ext: isaacsim.exp.base-5.1.0] startup +[3.575s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.576s] Simulation App Starting +2026-09-21T15:04:24Z [3,849ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.914s] app ready +[5.736s] Simulation App Startup Complete +[6.038s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:04:26Z [6,090ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:04:27Z [7,125ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.294] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.938] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:05:26Z [66,699ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:05:31Z [71,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,527ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,559ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,559ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,589ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,589ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,621ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,621ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:31Z [71,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,231ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,231ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,232ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,232ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,257ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,257ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,275ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,275ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,279ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,280ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,290ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,290ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,295ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,296ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,301ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,301ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,722ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,807ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:05:32Z [72,807ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:05:33Z [73,679ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:19.201] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:19.245] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:05:42Z [82,471ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:27.290] [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. +[00:01:27.293] [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. +2026-09-21T15:05:43Z [83,161ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:05:43Z [83,162ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:05:43Z [83,163ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:05:43Z [83,164ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:05:45Z [85,666ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:05:50Z [90,389ms] [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 +2026-09-21T15:05:55Z [95,776ms] [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 +2026-09-21T15:06:00Z [100,719ms] [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_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 240 human_carry_pose_for_pick {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 480 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 600 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': None} +2026-09-21T15:08:26Z [246,728ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-21T15:08:26Z [246,759ms] [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 +RECOVERY progress 720 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 840 park_can_for_ground {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 960 park_can_for_ground {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1200 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1680 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1800 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1920 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T15:13:28Z [547,923ms] [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 +RECOVERY progress 2160 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2280 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2400 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2520 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2640 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3000 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T15:17:13Z [773,143ms] [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 +RECOVERY progress 3120 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3240 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3360 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3480 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3600 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3720 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3840 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3960 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4080 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4200 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T15:22:19Z [1,079,398ms] [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 +RECOVERY progress 4440 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4560 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4680 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4800 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4920 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5040 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 5160 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T15:25:30Z [1,270,052ms] [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 +RECOVERY progress 5280 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5400 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5520 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5640 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5760 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 721, in deposit + raise RecoveryFailure("placement_bddl_false") +task01_recovery.control.RecoveryFailure: placement_bddl_false + +2026-09-21T15:27:19Z [1,378,999ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:27:19Z [1,378,999ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:27:19Z [1,378,999ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1379.146s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..f1228294417e6d960e4a1fa82d221b60b02c1166 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ 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Task card shows trash can placed back on floor in phase D (198/200 demos), only after all cans collected. Seed at first frame because entire action should not have run. Execution also problematic: grasp log shows trash can never released from left hand, but OnTop(trash_can, floor) fired \u2014 contradictory, but floor contact should not occur at this point in plan regardless." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..e3429b42ec0c540859a4339808dff1c7f3e24c5b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f004132/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019440-f004132", + "episode_id": "00019440", + "instance_id": 944, + "start_type": "judgement_seed", + "source_frame": 4132, + "attempt": "attempt_001", + "completed_at": 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"/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_114/base_link"}], "actual_q": [-4.000259876251221, 2.309826374053955, -0.013226891867816448, -0.0100516052916646, 0.0020923912525177, 1.0757826566696167, 1.3452588319778442, -0.9070904850959778, -0.49446141719818115, -0.044449761509895325, 0.33448246121406555, -0.8512965440750122, 0.032172832638025284, 0.13045059144496918, 0.0680108517408371, 0.9660587310791016, -1.2009084224700928, -0.5363385677337646, 1.933167815208435, -1.0352548360824585, -0.6217740178108215, 0.19190290570259094, 0.5759639143943787, -0.489163875579834, 0.05000000074505806, 0.04999855160713196, 0.0387093685567379, 0.038788098841905594]} +{"step": 5925, "event": "actions_rejected", "start": 5887, "end": 5925, "reason": "eef_execution_blocked"} +{"step": 5925, "event": "descent_blocked_below_rim", "can_low_z": 0.17888237535953522, "rim_z": 0.20660381019115448} +{"step": 5925, "event": "can_entered_volume", "entered": false, "blocked_below_rim": true} +{"step": 5980, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "placement_bddl_false", "attempt": 5} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..0ee597005f76dfdc7dfd0f6584fb3796cfaf2629 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5980 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 721, in deposit\n raise RecoveryFailure(\"placement_bddl_false\")\ntask01_recovery.control.RecoveryFailure: placement_bddl_false\n", + "steps": 5980, + "final_task": { + "inside": { + "can__of__soda.n.01_3": true, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 4.615159511566162, + 6.271744251251221, + 0.4518335461616516 + ], + [ + -0.8532901406288147, + 0.2908278703689575, + 0.41283243894577026, + -0.12994098663330078 + ] + ], + "right": [ + [ + 5.236812591552734, + 6.065209865570068, + 0.2143540382385254 + ], + [ + -0.15351060032844543, + 0.9877112507820129, + 0.02932039275765419, + -0.0011946511222049594 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 5.220878601074219, + 6.10269021987915, + 0.0429488830268383 + ], + "can__of__soda.n.01_2": [ + 5.219672679901123, + 6.044046878814697, + 0.21409332752227783 + ], + "can__of__soda.n.01_1": [ + 4.201292037963867, + 6.133244037628174, + 0.07145734131336212 + ], + "ashcan.n.01_1": [ + 5.207507610321045, + 6.0908403396606445, + 0.09301336854696274 + ] + }, + "robot_pose": [ + [ + 4.471102714538574, + 5.837637901306152, + 0.005285397171974182 + ], + [ + -2.283044159412384e-05, + 7.750248187221587e-05, + 0.19450244307518005, + 0.9809020757675171 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1361 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..449925b866696ed3b941e79dc445200c9b664a9c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9cac381c9d879e7a217f0a04d78ffec99a52f553a7cf284e8433388a7306ad3 +size 431872 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..658e98a86871a80576880fbfdd7a5c4f72dfbe5e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/run.log @@ -0,0 +1,681 @@ +RECOVERY building environment +[00:00:03.611] [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_20260922_130900.log +[0.060s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.114s] [ext: omni.metrics.core-0.0.3] startup +[0.114s] [ext: omni.client.lib-1.1.0] startup +[0.123s] [ext: omni.blobkey-1.1.2] startup +[0.123s] [ext: omni.stats-1.0.1] startup +[0.124s] [ext: omni.datastore-0.0.0] startup +[0.128s] [ext: omni.client-1.3.0] startup +[0.130s] [ext: omni.ujitso.default-1.0.0] startup +[0.132s] [ext: omni.hsscclient-1.1.2] startup +[0.138s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.140s] [ext: omni.assets.plugins-0.0.0] startup +[0.142s] [ext: omni.gpu_foundation-0.0.0] startup +[0.148s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T05:09:00Z [130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:00Z [130ms] [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) +[0.150s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T05:09:00Z [154ms] [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: 47102 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T05:09:01Z [728ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.889s] [ext: omni.materialx.libs-1.0.7] startup +[0.895s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.896s] [ext: omni.kit.test-2.0.1] startup +[0.913s] [ext: omni.usd.config-1.0.6] startup +[0.915s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.915s] [ext: omni.usd.libs-1.0.1] startup +[1.020s] [ext: omni.kit.telemetry-0.5.2] startup +[1.039s] [ext: omni.mdl-56.0.3] startup +[1.054s] [ext: omni.iray.libs-0.0.0] startup +[1.058s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.060s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.125s] [ext: omni.kit.pipapi-0.0.0] startup +[1.126s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T05:09:01Z [1,107ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,107ms] [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) +[1.128s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T05:09:01Z [1,188ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,188ms] [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) +2026-09-22T05:09:01Z [1,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,194ms] [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) +[1.215s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.216s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T05:09:01Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,199ms] [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) +2026-09-22T05:09:01Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,200ms] [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) +2026-09-22T05:09:01Z [1,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:09:01Z [1,201ms] [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.ui-2.27.1] startup +[1.268s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.269s] [ext: carb.audio-0.1.0] startup +[1.272s] [ext: omni.uiaudio-1.0.0] startup +[1.273s] [ext: omni.kit.uiapp-0.0.0] startup +[1.273s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.274s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.277s] [ext: omni.usd_resolver-1.0.0] startup +[1.281s] [ext: omni.usd.core-1.5.3] startup +[1.284s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.300s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.319s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.322s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.324s] [ext: omni.kit.actions.core-1.0.0] startup +[1.326s] [ext: omni.activity.core-1.0.3] startup +[1.327s] [ext: omni.kit.commands-1.4.10] startup +[1.329s] [ext: usdrt.scenegraph-7.6.1] startup +[1.354s] [ext: omni.resourcemonitor-107.0.1] startup +[1.355s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.356s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.363s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.363s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.366s] [ext: omni.graph.exec-0.9.6] startup +[1.366s] [ext: omni.timeline-1.0.14] startup +[1.367s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.368s] [ext: omni.kit.exec.core-0.13.4] startup +[1.369s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.375s] [ext: omni.usd-1.13.10] startup +[1.394s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.404s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.404s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.409s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.416s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.421s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.421s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.421s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.447s] [ext: omni.inspect-1.0.2] startup +[1.448s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.449s] [ext: omni.graph.core-2.184.5] startup +[1.452s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.452s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.453s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.458s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.461s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.462s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.465s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.465s] [ext: omni.kit.clipboard-1.0.5] startup +[1.466s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.472s] [ext: omni.ui.scene-1.11.5] startup +[1.474s] [ext: omni.index.libs-380600.8087.0] startup +[1.474s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.480s] [ext: omni.index-1.0.1] startup +[1.481s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.481s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.483s] [ext: omni.volume-0.5.2] startup +[1.485s] [ext: omni.ujitso.client-0.0.0] startup +[1.485s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.486s] [ext: omni.kit.menu.core-1.1.2] startup +[1.486s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T05:09:02Z [1,482ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.517s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.518s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.520s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.521s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.525s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.531s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.536s] [ext: omni.kit.context_menu-1.8.6] startup +[1.537s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.539s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.539s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.541s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.547s] [ext: omni.kit.material.library-2.0.7] startup +[1.550s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.550s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.553s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.564s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.564s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.565s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.565s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.566s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.566s] [ext: omni.kit.browser.core-2.3.13] startup +[1.568s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.569s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.575s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.577s] [ext: omni.kit.window.file-2.0.5] startup +[1.579s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.579s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.580s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.581s] [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 +[1.595s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.602s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.603s] [ext: omni.graph.action_core-1.1.7] startup +[1.604s] [ext: omni.graph-1.141.2] startup +[1.631s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.632s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.636s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.641s] [ext: omni.kit.window.stage-2.6.1] startup +[1.648s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.649s] [ext: omni.graph.action-1.130.0] startup +[1.650s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.653s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.657s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.658s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.664s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.678s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.683s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.684s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.685s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.694s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.696s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.698s] [ext: omni.kit.window.property-1.12.1] startup +[1.701s] [ext: omni.ui_query-1.1.8] startup +[1.702s] [ext: omni.kit.property.usd-4.5.12] startup +[1.709s] [ext: omni.kit.menu.create-2.0.1] startup +[1.711s] [ext: isaacsim.core.version-2.0.6] startup +[1.711s] [ext: omni.kit.ui_test-1.3.7] startup +[1.713s] [ext: omni.kit.scripting-107.3.2] startup +[1.716s] [ext: omni.convexdecomposition-107.3.26] startup +[1.720s] [ext: isaacsim.storage.native-1.5.1] startup +[1.721s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.728s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.732s] [ext: omni.kvdb-107.3.26] startup +[1.733s] [ext: omni.usdphysics-107.3.26] startup +[1.735s] [ext: omni.physx.foundation-107.3.26] startup +[1.737s] [ext: omni.localcache-107.3.26] startup +[1.738s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.742s] [ext: omni.physx.cooking-107.3.26] startup +[1.746s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.747s] [ext: omni.physx-107.3.26] startup +[1.755s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.760s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.762s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.766s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.770s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.771s] [ext: isaacsim.gui.components-1.2.1] startup +[1.774s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.776s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.838s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.843s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.849s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.854s] [ext: omni.fabric.commands-1.1.6] startup +[1.856s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.858s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.860s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.868s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.869s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.869s] [ext: omni.debugdraw-0.1.4] startup +[1.873s] [ext: omni.physics-107.3.26] startup +[1.875s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.893s] [ext: omni.physx.commands-107.3.26] startup +[1.897s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.899s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.901s] [ext: omni.physx.ui-107.3.26] startup +[1.923s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.927s] [ext: omni.physx.supportui-107.3.26] startup +[1.937s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.940s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.941s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.945s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T05:09:02Z [1,928ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.947s] [ext: omni.physics.tensors-107.3.26] startup +[1.952s] [ext: omni.warp.core-1.8.2] startup +[2.065s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.068s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T05:09:02Z [2,054ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.073s] [ext: omni.physx.tensors-107.3.26] startup +[2.080s] [ext: isaacsim.core.utils-3.5.1] startup +[2.083s] [ext: omni.graph.image.core-0.6.1] startup +[2.085s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.162s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.164s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.166s] [ext: isaacsim.core.prims-0.6.1] startup +[2.190s] [ext: omni.syntheticdata-0.6.13] startup +[2.200s] [ext: isaacsim.core.api-4.8.0] startup +[2.216s] [ext: omni.videoencoding-0.1.2] startup +[2.220s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.222s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.227s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.228s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.229s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.233s] [ext: omni.graph.nodes-1.170.10] startup +[2.242s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.245s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.247s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T05:09:02Z [2,229ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.248s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.254s] [ext: omni.warp-1.8.2] startup +[2.263s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.282s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.285s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.327s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.375s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T05:09:02Z [2,369ms] [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 +2026-09-22T05:09:02Z [2,436ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T05:09:02Z [2,436ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T05:09:02Z [2,437ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.458s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.461s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.466s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.475s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T05:09:03Z [2,459ms] [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. +[2.479s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.487s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.496s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.512s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.517s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.523s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T05:09:03Z [2,509ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.537s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.539s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T05:09:03Z [2,522ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.545s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T05:09:03Z [2,540ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.560s] [ext: omni.anim.curve.core-1.3.1] startup +[2.674s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T05:09:03Z [2,662ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:09:03Z [2,663ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:09:03Z [2,743ms] [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. +[2.763s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.837s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T05:09:03Z [2,819ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.839s] [ext: omni.kit.selection-0.1.6] startup +[2.842s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.849s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T05:09:03Z [2,831ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,832ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,832ms] [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. +2026-09-22T05:09:03Z [2,833ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,838ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,838ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,839ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,839ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,839ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:09:03Z [2,839ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.859s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.873s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.880s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.891s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T05:09:03Z [2,874ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.894s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.899s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T05:09:03Z [2,882ms] [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. +2026-09-22T05:09:03Z [2,882ms] [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. +2026-09-22T05:09:03Z [2,884ms] [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. +2026-09-22T05:09:03Z [2,884ms] [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. +2026-09-22T05:09:03Z [2,885ms] [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. +2026-09-22T05:09:03Z [2,885ms] [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. +2026-09-22T05:09:03Z [2,886ms] [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. +2026-09-22T05:09:03Z [2,886ms] [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. +2026-09-22T05:09:03Z [2,886ms] [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. +2026-09-22T05:09:03Z [2,886ms] [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. +2026-09-22T05:09:03Z [2,890ms] [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. +2026-09-22T05:09:03Z [2,890ms] [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. +2026-09-22T05:09:03Z [2,890ms] [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. +2026-09-22T05:09:03Z [2,891ms] [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. +2026-09-22T05:09:03Z [2,891ms] [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. +2026-09-22T05:09:03Z [2,891ms] [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. +[2.911s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T05:09:03Z [2,893ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.912s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T05:09:03Z [2,895ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T05:09:03Z [2,895ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.916s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T05:09:03Z [2,898ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.917s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T05:09:03Z [2,900ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.920s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.930s] [ext: omni.isaac.utils-2.0.6] startup +[2.933s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.945s] [ext: isaacsim.app.about-2.0.11] startup +[2.949s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T05:09:03Z [2,931ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.950s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.951s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T05:09:03Z [2,934ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T05:09:03Z [2,934ms] [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. +2026-09-22T05:09:03Z [2,934ms] [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. +2026-09-22T05:09:03Z [2,936ms] [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. +2026-09-22T05:09:03Z [2,936ms] [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. +2026-09-22T05:09:03Z [2,936ms] [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. +2026-09-22T05:09:03Z [2,937ms] [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. +2026-09-22T05:09:03Z [2,937ms] [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. +2026-09-22T05:09:03Z [2,938ms] [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. +2026-09-22T05:09:03Z [2,938ms] [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. +2026-09-22T05:09:03Z [2,939ms] [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. +2026-09-22T05:09:03Z [2,940ms] [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. +[2.960s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T05:09:03Z [2,951ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T05:09:03Z [2,952ms] [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. +[2.972s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.985s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T05:09:03Z [2,967ms] [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. +[2.987s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.998s] [ext: omni.kit.property.audio-1.0.16] startup +[3.003s] [ext: omni.kit.property.camera-1.0.10] startup +[3.004s] [ext: omni.sensors.net-1.0.0] startup +[3.007s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.012s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.015s] [ext: omni.kit.property.light-1.0.12] startup +[3.078s] [ext: omni.kit.property.material-1.11.9] startup +[3.083s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.084s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.086s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.090s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.097s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.101s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.104s] [ext: omni.kit.property.render-1.2.1] startup +[3.105s] [ext: omni.kit.property.transform-1.5.13] startup +[3.108s] [ext: isaacsim.gui.property-1.1.3] startup +[3.110s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.115s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.123s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.133s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.139s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.146s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T05:09:03Z [3,127ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T05:09:03Z [3,128ms] [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. +[3.147s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T05:09:03Z [3,128ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T05:09:03Z [3,128ms] [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. +[3.148s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.161s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T05:09:03Z [3,144ms] [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. +2026-09-22T05:09:03Z [3,144ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T05:09:03Z [3,144ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,145ms] [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. +2026-09-22T05:09:03Z [3,146ms] [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. +[3.165s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T05:09:03Z [3,147ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.167s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.176s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.181s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.185s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.188s] [ext: omni.ocio-0.1.1] startup +[3.192s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.208s] [ext: omni.kit.window.console-1.1.4] startup +[3.216s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.223s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T05:09:03Z [3,204ms] [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. +[3.224s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.230s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.234s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.249s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T05:09:03Z [3,231ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.250s] [ext: semantics.schema.editor-2.0.2] startup +[3.257s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.259s] [ext: semantics.schema.property-2.0.1] startup +[3.261s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T05:09:03Z [3,243ms] [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. +2026-09-22T05:09:03Z [3,243ms] [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. +2026-09-22T05:09:03Z [3,244ms] [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. +[3.263s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T05:09:03Z [3,246ms] [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. +2026-09-22T05:09:03Z [3,246ms] [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. +2026-09-22T05:09:03Z [3,246ms] [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. +2026-09-22T05:09:03Z [3,246ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.266s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.279s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.288s] [ext: omni.kit.menu.common-2.0.1] startup +[3.290s] [ext: isaacsim.exp.base-5.1.0] startup +[3.291s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.292s] Simulation App Starting +2026-09-22T05:09:04Z [4,086ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.131s] app ready +[6.331s] Simulation App Startup Complete +[6.665s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T05:09:07Z [6,767ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T05:09:08Z [7,720ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.389] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.531] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T05:10:06Z [65,511ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,258ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,258ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,293ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,293ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:08Z [68,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [68,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [68,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,172ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,172ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,173ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,173ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,217ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,217ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,221ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,222ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,227ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,227ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,232ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,232ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,243ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:09Z [69,243ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,806ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,806ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,807ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,807ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:10:10Z [69,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:10:11Z [70,827ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:14.772] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:14.810] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T05:10:19Z [79,308ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:23.710] [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. +[00:01:23.713] [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. +2026-09-22T05:10:20Z [80,072ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:10:20Z [80,073ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:10:20Z [80,074ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:10:20Z [80,075ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:10:23Z [83,084ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T05:10:32Z [92,102ms] [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 +2026-09-22T05:10:32Z [92,171ms] [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 +2026-09-22T05:10:42Z [101,725ms] [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 +2026-09-22T05:10:42Z [101,794ms] [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 +2026-09-22T05:10:47Z [106,925ms] [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 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 240 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 360 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 480 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 600 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 720 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 840 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 lower_bin_for_reachable_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1200 park_can_for_ground {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1320 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1440 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 1560 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1920 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2280 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-22T05:17:32Z [511,563ms] [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 +RECOVERY progress 2400 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2520 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2640 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2760 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 2880 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3000 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3120 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3240 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3360 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3600 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3720 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-22T05:23:08Z [848,310ms] [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 +RECOVERY progress 3840 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 3960 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4080 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4200 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4440 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4680 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4800 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-22T05:27:46Z [1,126,233ms] [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 +RECOVERY progress 4920 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5040 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5160 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5280 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5400 recover_grasp_from_existing_contact {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-22T05:29:41Z [1,240,502ms] [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 +RECOVERY progress 5520 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5640 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5760 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 5880 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 721, in deposit + raise RecoveryFailure("placement_bddl_false") +task01_recovery.control.RecoveryFailure: placement_bddl_false + +2026-09-22T05:31:30Z [1,349,610ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:31:30Z [1,349,610ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:31:30Z [1,349,610ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1349.725s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..27d883c1e4a511354540f8fc8fb6e95e0282fb6e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019440-f008250/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b35130a7302b2af7ab42189ae93b2f3142c717c8f96bc75032627fac9b3bf3a +size 6108 diff --git 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"default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.48538307318205604, -0.4787403457993645, 0.035368567466632125], [0.39984237511020343, 0.4259191813973299, 0.41092019248477807]]} +{"step": 3513, "event": "joint_tracking", "max_error_rad": 0.004670202732086182} +{"step": 3513, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.9048779010772705, 7.09353494644165, 0.5946725010871887], "desired_xyz": [3.903859311557169, 7.08959579479482, 0.5947163474524071], "error_m": 0.004068951070107335} +{"step": 3513, "event": "eef_target", "arm": "left", "body_xyz": [0.7083694566949008, 0.07599052751531733, 0.5895462532130625], "world_xyz": [3.89123307509493, 7.047438621755167, 0.5947157287526226], "held": {"left": null, "right": "trash_can_116"}} +{"step": 3513, "event": "torso_collision_guard", "start_overlap_m": 0.0004942228039754304, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0004942228039754304, "rejected_solutions": 0, "accepted": false} +{"step": 3513, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.48538248159824915, -0.4787396682202492, 0.035368632046730415], [0.39984079906694725, 0.42591845238088105, 0.4109201665416875]]} +{"step": 3513, "event": "actions_rejected", "start": 3494, "end": 3513, "reason": "ik_infeasible:left:[0.708 0.076 0.59 ]"} +{"step": 3513, "event": "retract_after_release_blocked", "reason": "ik_infeasible:left:[0.708 0.076 0.59 ]"} +{"step": 3513, "event": "primitive_verified", "operation": "deposit:can_of_soda_114", "start": 2817, "end": 3513} +{"step": 3513, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.9048779010772705, 7.09353494644165, 0.5946725010871887], [0.9651366472244263, -0.08950523287057877, 0.16551551222801208, -0.18194745481014252]], "right": [[3.878277063369751, 7.219813346862793, 0.41560542583465576], [0.9260229468345642, 0.37461596727371216, -0.038532406091690063, 0.025686077773571014]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.005288600921631, 7.125251293182373, 0.3521844148635864], "can__of__soda.n.01_3": [3.9695143699645996, 7.137880325317383, 0.22376853227615356], "can__of__soda.n.01_2": [3.90803861618042, 7.178430080413818, 0.2504582107067108], "ashcan.n.01_1": [3.941735029220581, 7.149109363555908, 0.29341161251068115]}, "robot_pose": [[4.59171724319458, 6.9169769287109375, 0.00528523325920105], [8.111074566841125e-05, -4.799263479071669e-06, -0.9894337058067322, -0.14498676359653473]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..137022b3b8820260b0f7d26125fb39c625162f9b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/3436 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.943s] [ext: omni.physics.tensors-107.3.26] startup +[1.947s] [ext: omni.warp.core-1.8.2] startup +[2.064s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.066s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:25:29Z [2,039ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.071s] [ext: omni.physx.tensors-107.3.26] startup +[2.097s] [ext: isaacsim.core.utils-3.5.1] startup +[2.100s] [ext: omni.graph.image.core-0.6.1] startup +[2.102s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.178s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.180s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.182s] [ext: isaacsim.core.prims-0.6.1] startup +[2.196s] [ext: omni.syntheticdata-0.6.13] startup +[2.207s] [ext: isaacsim.core.api-4.8.0] startup +[2.227s] [ext: omni.videoencoding-0.1.2] startup +[2.230s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.231s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.234s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.235s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.236s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.240s] [ext: omni.graph.nodes-1.170.10] startup +[2.254s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.256s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.259s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:25:30Z [2,228ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.259s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.265s] [ext: omni.warp-1.8.2] startup +[2.268s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.280s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.284s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.303s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.374s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:25:30Z [2,366ms] [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 +2026-09-20T10:25:30Z [2,449ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:25:30Z [2,449ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:25:30Z [2,449ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.483s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.486s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.489s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.497s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:25:30Z [2,466ms] [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. +[2.498s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.508s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.527s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.549s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.556s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.563s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:25:30Z [2,535ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.591s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.595s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:25:30Z [2,569ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.604s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:25:30Z [2,575ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.607s] [ext: omni.anim.curve.core-1.3.1] startup +[2.689s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:25:30Z [2,659ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:25:30Z [2,659ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:25:30Z [2,750ms] [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. +[2.782s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.807s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:25:30Z [2,777ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.811s] [ext: omni.kit.selection-0.1.6] startup +[2.827s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.881s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:25:30Z [2,853ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,861ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,869ms] [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. +2026-09-20T10:25:30Z [2,897ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,897ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,897ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,898ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,898ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,898ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:25:30Z [2,899ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.936s] [ext: isaacsim.gui.menu-2.4.4] 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. +[2.956s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.965s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.971s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:25:30Z [2,942ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.977s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.985s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:25:30Z [2,957ms] [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. +2026-09-20T10:25:30Z [2,959ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,960ms] [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. +2026-09-20T10:25:30Z [2,961ms] [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. +2026-09-20T10:25:30Z [2,961ms] [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. +2026-09-20T10:25:30Z [2,961ms] [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. +2026-09-20T10:25:30Z [2,962ms] [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. +2026-09-20T10:25:30Z [2,962ms] [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. +2026-09-20T10:25:30Z [2,962ms] [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. +[2.997s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:25:30Z [2,967ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.004s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:25:30Z [2,975ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:25:30Z [2,975ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.007s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:25:30Z [2,976ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.008s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:25:30Z [2,978ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.010s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.016s] [ext: omni.isaac.utils-2.0.6] startup +[3.022s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.032s] [ext: isaacsim.app.about-2.0.11] startup +[3.035s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:25:30Z [3,004ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.036s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.038s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:25:30Z [3,007ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:25:30Z [3,008ms] [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. +2026-09-20T10:25:30Z [3,008ms] [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. +2026-09-20T10:25:30Z [3,008ms] [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. +2026-09-20T10:25:30Z [3,009ms] [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. +2026-09-20T10:25:30Z [3,009ms] [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. +2026-09-20T10:25:30Z [3,009ms] [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. +2026-09-20T10:25:30Z [3,009ms] [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. +2026-09-20T10:25:30Z [3,009ms] [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. +2026-09-20T10:25:30Z [3,010ms] [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. +2026-09-20T10:25:30Z [3,010ms] [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. +2026-09-20T10:25:30Z [3,011ms] [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. +[3.042s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:25:30Z [3,021ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:25:30Z [3,021ms] [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. +[3.053s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.059s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:25:30Z [3,028ms] [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. +[3.060s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.074s] [ext: omni.kit.property.audio-1.0.16] startup +[3.078s] [ext: omni.kit.property.camera-1.0.10] startup +[3.080s] [ext: omni.sensors.net-1.0.0] startup +[3.083s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.087s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.094s] [ext: omni.kit.property.light-1.0.12] startup +[3.151s] [ext: omni.kit.property.material-1.11.9] startup +[3.156s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.157s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.159s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.162s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.168s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.172s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.174s] [ext: omni.kit.property.render-1.2.1] startup +[3.175s] [ext: omni.kit.property.transform-1.5.13] startup +[3.178s] [ext: isaacsim.gui.property-1.1.3] startup +[3.179s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.184s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.189s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.195s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.199s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.204s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:25:31Z [3,173ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:25:31Z [3,173ms] [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. +[3.205s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:25:31Z [3,174ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:25:31Z [3,174ms] [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. +[3.206s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.219s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:25:31Z [3,189ms] [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. +2026-09-20T10:25:31Z [3,189ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:25:31Z [3,189ms] [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. +2026-09-20T10:25:31Z [3,189ms] [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. +2026-09-20T10:25:31Z [3,190ms] [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. +2026-09-20T10:25:31Z [3,190ms] [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. +2026-09-20T10:25:31Z [3,190ms] [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. +2026-09-20T10:25:31Z [3,190ms] [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. +2026-09-20T10:25:31Z [3,191ms] [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. +2026-09-20T10:25:31Z [3,191ms] [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. +2026-09-20T10:25:31Z [3,192ms] [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. +[3.224s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:25:31Z [3,194ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.226s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.237s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.241s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.242s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.244s] [ext: omni.ocio-0.1.1] startup +[3.246s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.255s] [ext: omni.kit.window.console-1.1.4] startup +[3.263s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.267s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:25:31Z [3,236ms] [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. +[3.268s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.272s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.276s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.284s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:25:31Z [3,254ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.285s] [ext: semantics.schema.editor-2.0.2] startup +[3.289s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.290s] [ext: semantics.schema.property-2.0.1] startup +[3.291s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:25:31Z [3,261ms] [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. +2026-09-20T10:25:31Z [3,261ms] [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. +2026-09-20T10:25:31Z [3,261ms] [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. +[3.293s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:25:31Z [3,263ms] [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. +2026-09-20T10:25:31Z [3,263ms] [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. +2026-09-20T10:25:31Z [3,263ms] [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. +2026-09-20T10:25:31Z [3,263ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.295s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.303s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.308s] [ext: omni.kit.menu.common-2.0.1] startup +[3.310s] [ext: isaacsim.exp.base-5.1.0] startup +[3.311s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.312s] Simulation App Starting +2026-09-20T10:25:31Z [3,333ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:25:31Z [3,353ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.410s] app ready +[5.366s] Simulation App Startup Complete +[5.696s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:25:33Z [5,778ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:25:34Z [6,657ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.407] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.483] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:26:34Z [66,190ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:26:36Z [68,274ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T10:26:36Z [68,537ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,537ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,538ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,538ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,538ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,538ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,696ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,696ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,732ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,803ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,803ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,844ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,844ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,845ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,845ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,845ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,845ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,851ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:36Z [68,851ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,578ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,629ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,629ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,635ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,635ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,661ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,667ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,823ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,823ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:37Z [69,823ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,169ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,169ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,265ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:26:38Z [70,265ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:15.224] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:15.320] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:26:47Z [79,575ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:24.120] [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. +[00:01:24.123] [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. +2026-09-20T10:26:48Z [80,402ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:26:48Z [80,403ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:26:48Z [80,404ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:26:48Z [80,405ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:26:51Z [83,244ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:26:55Z [87,814ms] [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 +2026-09-20T10:27:00Z [92,962ms] [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 +2026-09-20T10:27:06Z [98,159ms] [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': False, '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': False, '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': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_1': False, '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': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T10:29:53Z [265,063ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-20T10:29:53Z [265,092ms] [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 840 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 960 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1080 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1200 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1320 adjust_can_wrist_for_reachable_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1440 transport_posture {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1560 lower_bin_for_reachable_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1680 orient_can_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1800 orient_can_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1920 adjust_can_wrist_for_reachable_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2040 adjust_can_wrist_for_reachable_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2160 retract_hand_after_release {'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 2280 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 2400 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 2520 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 2640 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'} +2026-09-20T10:36:05Z [637,980ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-20T10:36:05Z [638,011ms] [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 2760 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 2880 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 3000 orient_bin_for_gravity {'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 3120 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 3240 adjust_can_wrist_for_reachable_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 3360 adjust_can_wrist_for_reachable_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 3480 release_into_aligned_bin {'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 +2026-09-20T10:37:54Z [746,332ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:37:54Z [746,332ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:37:54Z [746,332ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[746.457s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..f00768efe81e70137731fa013f19ed00694d7db4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cd14a12b4b7f798086cb72781ab29a185b294a3d27ecf6daae39ca509589046 +size 3564 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..bee50a5e7402706753e1d268de2089849739c96b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019460-f003751/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": 0.0007728599274368642, + "max_supervised_command_overlap_m": 0.00047446699999209585, + "flagged_supervised_steps": 0, + "flagged_frames": [], + "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785", + "review_required": false +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c088456dcd9b811b126bf03108024c642cdbc1fe --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3256081fc2f3c055dde44361f899b7939182662794d459311b616ce78b920c02 +size 55620969 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5279bff87ed0d3baee3f2d96f5ef9af448342c27 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:254732fd680df0425f8838b6d1ec53048b378dbafc522788b84bfaae7bd13aee +size 6820085 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/case.json new file mode 100644 index 0000000000000000000000000000000000000000..61dbca5781fa4a899d8559245a8368e570d4e05d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019460-f003751", + "kind": "vla", + "episode_id": "00019460", + "instance_id": 946, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019460.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019460.json", + "frame": 3751, + "start_type": "judgement_seed", + "chunk_index": 3, + "chunk_span": [ + 3751, + 6177 + ], + "reason": "At f3751 C1 has just completed; right holds trash can raised with can 113 inside, left is free, cans 114 and 115 are on the living-room floor untouched. This is the last frame on plan \u2014 from f4200 onward the left arm hovers over the trash can without grasping anything (no IsGrasping flip in the whole span), and by f5833/f5993 the log shows can 113 knocked out of the trash can when right lowers/lifts the trash can. Seeding earlier avoids restoring a state already ruined by the trash-can-with-can-inside being set down and picked up. Left arm is forced because right remains committed to the trash can." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..48ca86dbca98c0e33502ec925d41300fdc3a6a66 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f003751/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019460-f003751", + "episode_id": "00019460", + "instance_id": 946, + "start_type": "judgement_seed", + "source_frame": 3751, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:40:35+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 3543, + "dataset_frames": 3436, + 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"case": { + "case_id": "vla-episode_00019460-f006178", + "kind": "vla", + "episode_id": "00019460", + "instance_id": 946, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019460.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019460.json", + "frame": 6178, + "start_type": "judgement_seed", + "chunk_index": 4, + "chunk_span": [ + 6178, + 10535 + ], + "reason": "At f6178 the trash can has just been lifted off the floor (OnTop(trash_can_116, floor) FALSE at f6177) and can 113 has already spilled out of it (Under/OnTop flipped at f5833/f5993). State: right holds empty trash can, left free, can 113 on floor near where the trash can just sat, cans 114 and 115 still on the floor. Robot then wanders for the remaining ~4300 frames with no predicate flips (swept head view at f6178, 7000, 7800, 8500, 9200, 10000, 10500). The natural first recovery is to re-collect the spilled can 113; left arm is forced because right is still committed to the trash can." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07058f8069cee00c6407ca766e5122592e1cf046 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/events.jsonl @@ -0,0 +1,624 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", 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"accepted": true} +{"step": 2736, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.46779591279491045, -0.4507385770548351, 0.03537180670505796], [0.3610645987733229, 0.4067617869201563, 0.41091364516153434]]} +{"step": 2754, "event": "joint_tracking", "max_error_rad": 0.008117645978927612} +{"step": 2754, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.763449668884277, 7.457688808441162, 0.5707676410675049], "desired_xyz": [4.762166860706944, 7.457770708210606, 0.5710934162139893], "error_m": 0.0013260595153069756} +{"step": 2754, "event": "eef_target", "arm": "right", "body_xyz": [0.7920040881540933, -0.12242029929538104, 0.5803642936598913], "world_xyz": [4.724578717955755, 7.471088269957708, 0.5855229330062867], "held": {"left": "can_of_soda_115", "right": "trash_can_116"}} +{"step": 2754, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.058412747549049016, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2754, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.46779590407339683, -0.4507386968934679, 0.03537193456257251], [0.3610645694654041, 0.40676175519870666, 0.4109135347003823]]} +{"step": 2772, "event": "joint_tracking", "max_error_rad": 0.009436652064323425} +{"step": 2772, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.7262282371521, 7.471072196960449, 0.5851355195045471], "desired_xyz": [4.724578717955755, 7.471088269957708, 0.5855229330062867], "error_m": 0.0016944796079273866} +{"step": 2802, "event": "catch_alignment", "horizontal_error_m": 0.034166583096188446, "clearance_m": 0.07903820276260376, "speed_m_s": 0.01954883374895285, "footprint": {"fits": true, "max_normalized_radius": 0.7992243708136282, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}} +{"step": 2802, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": "trash_can_116"}, "eef_world": {"left": [[4.586727142333984, 7.384230136871338, 0.7336347103118896], [-0.27483251690864563, 0.6548343300819397, 0.25635257363319397, 0.6557000279426575]], "right": [[4.727654933929443, 7.471072196960449, 0.5848060250282288], [-0.7949162721633911, 0.6039153337478638, 0.04628009721636772, -0.03539232909679413]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.632400989532471, 7.4387688636779785, 0.3771815598011017], "can__of__soda.n.01_2": [4.618585586547852, 7.46201753616333, 0.4482814073562622], "can__of__soda.n.01_1": [4.5984601974487305, 7.415661334991455, 0.7305813431739807], "ashcan.n.01_1": [4.62669038772583, 7.438893795013428, 0.47202518582344055]}, "robot_pose": [[4.432486534118652, 6.724706172943115, 0.005285188555717468], [-5.605258047580719e-05, 5.885697100893594e-05, 0.6253277659416199, 0.7803623080253601]]}} +{"step": 2867, "event": "catch_verified", "object": "can_of_soda_115"} +{"step": 2867, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.586732387542725, 7.384269714355469, 0.7335579991340637], [-0.27487948536872864, 0.6548581719398499, 0.25631722807884216, 0.6556702852249146]], "right": [[4.7313432693481445, 7.471104145050049, 0.5840212106704712], [-0.8003491759300232, 0.5974828600883484, 0.039894700050354004, -0.029391737654805183]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.644202709197998, 7.438911437988281, 0.3744775950908661], "can__of__soda.n.01_2": [4.622848987579346, 7.4614176750183105, 0.4466041326522827], "can__of__soda.n.01_1": [4.594998359680176, 7.390786170959473, 0.5327678918838501], "ashcan.n.01_1": [4.632902145385742, 7.437605381011963, 0.46944811940193176]}, "robot_pose": [[4.432486534118652, 6.724706172943115, 0.005285248160362244], [-5.5987387895584106e-05, 5.91736170463264e-05, 0.6253278851509094, 0.7803622484207153]]}} +{"step": 2867, "event": "eef_target", "arm": "left", "body_xyz": [0.6772070761608209, 0.035460426019993135, 0.7303148632369179], "world_xyz": [4.545478625458601, 7.393481890574124, 0.7354896661710444], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2867, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.058412747549049016, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2867, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.46779601155315004, -0.4507383273070659, 0.03537138758776096], [0.3610644759707817, 0.40676172722716, 0.410913899628935]]} +{"step": 2886, "event": "joint_tracking", "max_error_rad": 0.009975701570510864} +{"step": 2886, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.545507907867432, 7.393489837646484, 0.7354429960250854], "desired_xyz": [4.545478625458601, 7.393481890574124, 0.7354896661710444], "error_m": 5.566612928770009e-05} +{"step": 2886, "event": "eef_target", "arm": "left", "body_xyz": [0.6772070470685178, 0.07773055712425808, 0.7322465233232367], "world_xyz": [4.504224863374477, 7.402694066792779, 0.7374213332080247], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2886, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.058412747549049016, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2886, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.46779535033731273, -0.45073751522708705, 0.03537129952728497], [0.3610636737035982, 0.40676095426806763, 0.41091392891768097]]} +{"step": 2905, "event": "joint_tracking", "max_error_rad": 0.009875625371932983} +{"step": 2905, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.504256725311279, 7.402698516845703, 0.7373773455619812], "desired_xyz": [4.504224863374477, 7.402694066792779, 0.7374213332080247], "error_m": 5.4496779650725986e-05} +{"step": 2905, "event": "eef_target", "arm": "left", "body_xyz": [0.6772071113421573, 0.11999913867814478, 0.7341788957949548], "world_xyz": [4.462971101290353, 7.411906243011434, 0.7393530002450053], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2905, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.058412747549049016, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2905, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4677953199157956, -0.4507372639459916, 0.03537167292147735], [0.3610633647896448, 0.4067612471452414, 0.4109137128587773]]} +{"step": 2924, "event": "joint_tracking", "max_error_rad": 0.0096987783908844} +{"step": 2924, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.4630045890808105, 7.41190767288208, 0.7393122315406799], "desired_xyz": [4.462971101290353, 7.411906243011434, 0.7393530002450053], "error_m": 5.277844154755443e-05} +{"step": 2924, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 1991, "end": 2924} +{"step": 2924, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.4630045890808105, 7.41190767288208, 0.7393122315406799], [-0.2749122381210327, 0.6548792719841003, 0.25652024149894714, 0.6555561423301697]], "right": [[4.736355781555176, 7.471226692199707, 0.5830448865890503], [-0.8078896403312683, 0.5881217122077942, 0.03121211566030979, -0.021283404901623726]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.654936790466309, 7.437829971313477, 0.3713753819465637], "can__of__soda.n.01_2": [4.631280422210693, 7.459471702575684, 0.44303619861602783], "can__of__soda.n.01_1": [4.606406211853027, 7.386666297912598, 0.5280951261520386], "ashcan.n.01_1": [4.641477108001709, 7.435863494873047, 0.4660584330558777]}, "robot_pose": [[4.432486534118652, 6.724706172943115, 0.005285352468490601], [-5.5526383221149445e-05, 5.939525362919085e-05, 0.6253284811973572, 0.7803617715835571]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..9799b9ba911b3f5a2da91500df6e54d82e29721b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2808 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.846s] [ext: omni.physics.tensors-107.3.26] startup +[1.850s] [ext: omni.warp.core-1.8.2] startup +[1.962s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.965s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:08:31Z [1,961ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.971s] [ext: omni.physx.tensors-107.3.26] startup +[1.976s] [ext: isaacsim.core.utils-3.5.1] startup +[1.980s] [ext: omni.graph.image.core-0.6.1] startup +[1.982s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.059s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.061s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.062s] [ext: isaacsim.core.prims-0.6.1] startup +[2.078s] [ext: omni.syntheticdata-0.6.13] startup +[2.089s] [ext: isaacsim.core.api-4.8.0] startup +[2.109s] [ext: omni.videoencoding-0.1.2] startup +[2.112s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.113s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.117s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.118s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.118s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.123s] [ext: omni.graph.nodes-1.170.10] startup +[2.137s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.140s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.144s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:08:32Z [2,136ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.145s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.154s] [ext: omni.warp-1.8.2] startup +[2.159s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.171s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.174s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.198s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.249s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:08:32Z [2,265ms] [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 +2026-09-21T15:08:32Z [2,362ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:08:32Z [2,362ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:08:32Z [2,363ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.376s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.379s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.386s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.399s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:08:32Z [2,392ms] [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. +[2.402s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.405s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.430s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.466s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.476s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.481s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:08:32Z [2,477ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.540s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.551s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:08:32Z [2,552ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.562s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:08:32Z [2,555ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.565s] [ext: omni.anim.curve.core-1.3.1] startup +[2.687s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:08:32Z [2,684ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:08:32Z [2,691ms] [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. +2026-09-21T15:08:32Z [2,763ms] [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. +[2.773s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.786s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:08:32Z [2,777ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.787s] [ext: omni.kit.selection-0.1.6] startup +[2.789s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.798s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:08:32Z [2,789ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,791ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,792ms] [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. +2026-09-21T15:08:32Z [2,795ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,795ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,798ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,798ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,799ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,799ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:08:32Z [2,801ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.811s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.821s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.830s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.838s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:08:32Z [2,831ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.842s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.848s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:08:32Z [2,841ms] [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. +2026-09-21T15:08:32Z [2,841ms] [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. +2026-09-21T15:08:32Z [2,842ms] [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. +2026-09-21T15:08:32Z [2,842ms] [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. +2026-09-21T15:08:32Z [2,842ms] [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. +2026-09-21T15:08:32Z [2,843ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,844ms] [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. +2026-09-21T15:08:32Z [2,845ms] [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. +2026-09-21T15:08:32Z [2,845ms] [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. +[2.854s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:08:32Z [2,852ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.862s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:08:32Z [2,855ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:08:32Z [2,855ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.865s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:08:32Z [2,857ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.866s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:08:32Z [2,858ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.869s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.873s] [ext: omni.isaac.utils-2.0.6] startup +[2.875s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.883s] [ext: isaacsim.app.about-2.0.11] startup +[2.885s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:08:32Z [2,877ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.887s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.889s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:08:32Z [2,882ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:08:32Z [2,882ms] [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. +2026-09-21T15:08:32Z [2,882ms] [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. +2026-09-21T15:08:32Z [2,883ms] [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. +2026-09-21T15:08:32Z [2,883ms] [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. +2026-09-21T15:08:32Z [2,884ms] [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. +2026-09-21T15:08:32Z [2,885ms] [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. +2026-09-21T15:08:32Z [2,885ms] [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. +2026-09-21T15:08:32Z [2,885ms] [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. +2026-09-21T15:08:32Z [2,885ms] [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. +2026-09-21T15:08:32Z [2,885ms] [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. +2026-09-21T15:08:32Z [2,886ms] [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. +[2.896s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:08:32Z [2,894ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:08:32Z [2,894ms] [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. +[2.904s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.916s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:08:32Z [2,914ms] [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. +[2.924s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.933s] [ext: omni.kit.property.audio-1.0.16] startup +[2.934s] [ext: omni.kit.property.camera-1.0.10] startup +[2.936s] [ext: omni.sensors.net-1.0.0] startup +[2.939s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.943s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.946s] [ext: omni.kit.property.light-1.0.12] startup +[3.020s] [ext: omni.kit.property.material-1.11.9] startup +[3.027s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.030s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.032s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.038s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.047s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.053s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.056s] [ext: omni.kit.property.render-1.2.1] startup +[3.057s] [ext: omni.kit.property.transform-1.5.13] startup +[3.061s] [ext: isaacsim.gui.property-1.1.3] startup +[3.064s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.071s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.078s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.085s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.089s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.094s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:08:33Z [3,086ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:08:33Z [3,086ms] [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. +[3.095s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:08:33Z [3,087ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:08:33Z [3,087ms] [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. +[3.096s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.109s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:08:33Z [3,102ms] [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. +2026-09-21T15:08:33Z [3,103ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,103ms] [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. +2026-09-21T15:08:33Z [3,105ms] [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. +2026-09-21T15:08:33Z [3,105ms] [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. +2026-09-21T15:08:33Z [3,107ms] [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. +[3.117s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:08:33Z [3,111ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.121s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.136s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.139s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.140s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.143s] [ext: omni.ocio-0.1.1] startup +[3.145s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.161s] [ext: omni.kit.window.console-1.1.4] startup +[3.169s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.173s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:08:33Z [3,164ms] [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. +[3.173s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.179s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.185s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.195s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:08:33Z [3,187ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.196s] [ext: semantics.schema.editor-2.0.2] startup +[3.201s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.203s] [ext: semantics.schema.property-2.0.1] startup +[3.205s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:08:33Z [3,196ms] [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. +2026-09-21T15:08:33Z [3,197ms] [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. +2026-09-21T15:08:33Z [3,197ms] [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. +[3.207s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:08:33Z [3,199ms] [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. +2026-09-21T15:08:33Z [3,199ms] [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. +2026-09-21T15:08:33Z [3,200ms] [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. +2026-09-21T15:08:33Z [3,200ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.209s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.222s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.228s] [ext: omni.kit.menu.common-2.0.1] startup +[3.230s] [ext: isaacsim.exp.base-5.1.0] startup +[3.231s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.232s] Simulation App Starting +2026-09-21T15:08:33Z [3,269ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T15:08:33Z [3,292ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.330s] app ready +[5.286s] Simulation App Startup Complete +[5.641s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:08:35Z [5,773ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:08:36Z [6,683ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.361] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.513] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:09:34Z [64,545ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:09:36Z [66,714ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T15:09:37Z [66,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [66,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [66,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [66,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [66,974ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [66,974ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,125ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,161ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,161ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,197ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,197ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,228ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,263ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:37Z [67,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,970ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,970ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,999ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [67,999ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,164ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,164ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,450ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,450ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,450ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,450ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,562ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:09:38Z [68,562ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:13.374] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:13.411] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:09:47Z [77,273ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:21.754] [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. +[00:01:21.757] [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. +2026-09-21T15:09:48Z [78,113ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:09:48Z [78,114ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:09:48Z [78,115ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:09:48Z [78,116ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:09:50Z [80,833ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:09:58Z [88,234ms] [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 +2026-09-21T15:10:05Z [95,545ms] [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 +2026-09-21T15:10:09Z [99,745ms] [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_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 transport_posture {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +2026-09-21T15:13:06Z [276,183ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-21T15:13:06Z [276,214ms] [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_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 840 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 960 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1200 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1320 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'} +2026-09-21T15:17:08Z [518,641ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-21T15:17:08Z [518,683ms] [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 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2040 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2160 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2280 orient_can_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2400 orient_can_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2520 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2640 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2760 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2880 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-21T15:19:07Z [637,182ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:19:07Z [637,182ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:19:07Z [637,182ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[637.292s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..09d08cc85e5d84e8b25d4ab43aa77fbee75253a1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad35303aca48fc5baf273f8042b12b328bea9fa73f4bb2d23b2d466346b5537a +size 2936 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019460-f006178/attempt_001/torso_geometry_audit.json 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"case": { + "case_id": "vla-episode_00019500-f005787", + "kind": "vla", + "episode_id": "00019500", + "instance_id": 950, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019500.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019500.json", + "frame": 5787, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4067, + 10535 + ], + "reason": "Place-in never completes: Inside(can,ashcan) never flips across 6468 frames. The can reaches Touching(ashcan) at f5787 \u2014 the closest approach to the mouth in the whole episode \u2014 and loses contact 57 frames later without seating. Everything after f5787 is retreat-and-retry (NextTo flips five more times) and by f9375 the can ends up Under the trash. f5787 is the last frame progress toward Inside was still increasing; earlier seeds discard productive transport, later seeds land past the point where the can/rim geometry is recoverable. Arm forced to right because the right gripper is holding can_of_soda_115 at f5787 and the left is holding trash_can_116." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..005603131d4f993238e1bdbaa9282ff2c1d0d8d8 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/events.jsonl @@ -0,0 +1,856 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", 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[0.5365855605342115, 0.5319047923670095, 0.4109469781529291]]} +{"step": 4293, "event": "joint_tracking", "max_error_rad": 0.0019636154174804688} +{"step": 4293, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.136795997619629, 6.482517242431641, 0.5918325185775757], "desired_xyz": [5.136814115788359, 6.482496612167254, 0.5918641977697067], "error_m": 4.1921916235456226e-05} +{"step": 4293, "event": "eef_target", "arm": "right", "body_xyz": [0.6571147276855358, -0.1200000588525798, 0.5866839691316744], "world_xyz": [5.162629125037518, 6.4540377153395045, 0.5918647785767096], "held": {"left": "trash_can_116", "right": null}} +{"step": 4293, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4293, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.008838407627158706, "held_worst_rejected_m": null, "base_box_body": [[-0.5092404077046719, -0.513304791678873, 0.03536171064928594], [0.5365860189870687, 0.531904816628623, 0.41094668284885894]]} +{"step": 4312, "event": "joint_tracking", "max_error_rad": 0.001963973045349121} +{"step": 4312, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.162613391876221, 6.4540557861328125, 0.5918353796005249], "desired_xyz": [5.162629125037518, 6.4540377153395045, 0.5918647785767096], "error_m": 3.7926056160577324e-05} +{"step": 4312, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 3694, "end": 4312} +{"step": 4312, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": "trash_can_116", "right": null}, "eef_world": {"left": [[4.9571003913879395, 6.594155311584473, 0.4246508777141571], [-0.5877330303192139, 0.803067147731781, 0.003176699159666896, 0.0981995090842247]], "right": [[5.162613391876221, 6.4540557861328125, 0.5918353796005249], [-0.3693585693836212, 0.9292783141136169, -0.004012179095298052, 0.00039509538328275084]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.095118999481201, 6.589820861816406, 0.3737753629684448], "can__of__soda.n.01_1": [5.057188510894775, 6.568795204162598, 0.2205633819103241], "can__of__soda.n.01_2": [5.037593841552734, 6.519962787628174, 0.31631526350975037], "ashcan.n.01_1": [5.054920673370361, 6.5654520988464355, 0.31559598445892334]}, "robot_pose": [[4.595233917236328, 6.101355075836182, 0.005285099148750305], [-3.62214632332325e-05, 7.299385470105335e-05, 0.36008772253990173, 0.9329184293746948]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..dbfa42b9b53a5b19cb3a0c39550339d159a646b6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4198 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.851s] [ext: omni.physics.tensors-107.3.26] startup +[1.855s] [ext: omni.warp.core-1.8.2] startup +[1.971s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.973s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:38:10Z [1,968ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.980s] [ext: omni.physx.tensors-107.3.26] startup +[1.985s] [ext: isaacsim.core.utils-3.5.1] startup +[1.988s] [ext: omni.graph.image.core-0.6.1] startup +[1.990s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.070s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.071s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.073s] [ext: isaacsim.core.prims-0.6.1] startup +[2.088s] [ext: omni.syntheticdata-0.6.13] startup +[2.098s] [ext: isaacsim.core.api-4.8.0] startup +[2.112s] [ext: omni.videoencoding-0.1.2] startup +[2.115s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.116s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.119s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.120s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.120s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.124s] [ext: omni.graph.nodes-1.170.10] startup +[2.132s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.135s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.138s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:38:10Z [2,128ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.139s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.144s] [ext: omni.warp-1.8.2] startup +[2.147s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.159s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.161s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.191s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.251s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:38:10Z [2,256ms] [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 +2026-09-20T10:38:10Z [2,318ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:38:10Z [2,318ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:38:10Z [2,319ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.331s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.334s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.338s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.346s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:38:10Z [2,337ms] [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. +[2.349s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.351s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.376s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.386s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.395s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.397s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:38:11Z [2,391ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.411s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.416s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:38:11Z [2,420ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.431s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:38:11Z [2,424ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.434s] [ext: omni.anim.curve.core-1.3.1] startup +[2.472s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:38:11Z [2,464ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:38:11Z [2,465ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:38:11Z [2,482ms] [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. +[2.493s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.556s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:38:11Z [2,546ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.557s] [ext: omni.kit.selection-0.1.6] startup +[2.563s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.631s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:38:11Z [2,630ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,644ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,666ms] [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. +2026-09-20T10:38:11Z [2,676ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,679ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,688ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,695ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,697ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,716ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:38:11Z [2,723ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. 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. +[2.739s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.764s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.775s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.779s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:38:11Z [2,771ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.782s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.790s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:38:11Z [2,783ms] [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. +2026-09-20T10:38:11Z [2,783ms] [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. +2026-09-20T10:38:11Z [2,784ms] [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. +2026-09-20T10:38:11Z [2,787ms] [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. +2026-09-20T10:38:11Z [2,787ms] [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. +2026-09-20T10:38:11Z [2,787ms] [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. +2026-09-20T10:38:11Z [2,787ms] [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. +2026-09-20T10:38:11Z [2,788ms] [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. +2026-09-20T10:38:11Z [2,788ms] [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. +2026-09-20T10:38:11Z [2,788ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +2026-09-20T10:38:11Z [2,791ms] [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. +[2.802s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:38:11Z [2,793ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.804s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:38:11Z [2,798ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:38:11Z [2,798ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.809s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:38:11Z [2,800ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.815s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:38:11Z [2,807ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.817s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.822s] [ext: omni.isaac.utils-2.0.6] startup +[2.824s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.830s] [ext: isaacsim.app.about-2.0.11] startup +[2.836s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:38:11Z [2,826ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.837s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.839s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:38:11Z [2,831ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:38:11Z [2,832ms] [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. +2026-09-20T10:38:11Z [2,832ms] [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. +2026-09-20T10:38:11Z [2,834ms] [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. +2026-09-20T10:38:11Z [2,834ms] [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. +2026-09-20T10:38:11Z [2,834ms] [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. +2026-09-20T10:38:11Z [2,835ms] [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. +2026-09-20T10:38:11Z [2,835ms] [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. +2026-09-20T10:38:11Z [2,835ms] [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. +2026-09-20T10:38:11Z [2,835ms] [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. +2026-09-20T10:38:11Z [2,836ms] [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. +2026-09-20T10:38:11Z [2,840ms] [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. +[2.851s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:38:11Z [2,858ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:38:11Z [2,858ms] [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. +[2.871s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.882s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:38:11Z [2,872ms] [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. +[2.883s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.896s] [ext: omni.kit.property.audio-1.0.16] startup +[2.901s] [ext: omni.kit.property.camera-1.0.10] startup +[2.903s] [ext: omni.sensors.net-1.0.0] startup +[2.908s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.915s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.919s] [ext: omni.kit.property.light-1.0.12] startup +[2.982s] [ext: omni.kit.property.material-1.11.9] startup +[2.987s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.989s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.991s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.998s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.010s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.016s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.019s] [ext: omni.kit.property.render-1.2.1] startup +[3.021s] [ext: omni.kit.property.transform-1.5.13] startup +[3.024s] [ext: isaacsim.gui.property-1.1.3] startup +[3.027s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.036s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.045s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.054s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.057s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.065s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:38:11Z [3,056ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:38:11Z [3,056ms] [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. +[3.066s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:38:11Z [3,057ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:38:11Z [3,057ms] [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. +[3.067s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.079s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:38:11Z [3,071ms] [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. +2026-09-20T10:38:11Z [3,071ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:38:11Z [3,072ms] [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. +2026-09-20T10:38:11Z [3,072ms] [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. +2026-09-20T10:38:11Z [3,072ms] [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. +2026-09-20T10:38:11Z [3,072ms] [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. +2026-09-20T10:38:11Z [3,073ms] [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. +2026-09-20T10:38:11Z [3,073ms] [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. +2026-09-20T10:38:11Z [3,073ms] [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. +2026-09-20T10:38:11Z [3,073ms] [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. +2026-09-20T10:38:11Z [3,073ms] [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. +[3.084s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:38:11Z [3,076ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.087s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.102s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.107s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.110s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.112s] [ext: omni.ocio-0.1.1] startup +[3.115s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.132s] [ext: omni.kit.window.console-1.1.4] startup +[3.139s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.143s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:38:11Z [3,133ms] [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. +[3.143s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.148s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.151s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.165s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:38:11Z [3,156ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.167s] [ext: semantics.schema.editor-2.0.2] startup +[3.173s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.174s] [ext: semantics.schema.property-2.0.1] startup +[3.176s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:38:11Z [3,167ms] [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. +2026-09-20T10:38:11Z [3,167ms] [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. +2026-09-20T10:38:11Z [3,168ms] [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. +[3.178s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:38:11Z [3,170ms] [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. +2026-09-20T10:38:11Z [3,170ms] [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. +2026-09-20T10:38:11Z [3,171ms] [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. +2026-09-20T10:38:11Z [3,171ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.181s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.191s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.196s] [ext: omni.kit.menu.common-2.0.1] startup +[3.198s] [ext: isaacsim.exp.base-5.1.0] startup +[3.199s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.200s] Simulation App Starting +2026-09-20T10:38:11Z [3,239ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:38:11Z [3,260ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[3.296s] app ready +[5.138s] Simulation App Startup Complete +[5.496s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:38:14Z [5,582ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:38:15Z [6,558ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.284] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.584] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:39:18Z [70,121ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:39:21Z [73,069ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,069ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,070ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,070ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,070ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,071ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,271ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,271ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:21Z [73,320ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,368ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,368ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,438ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,438ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,439ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,453ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:22Z [73,453ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,443ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,443ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,478ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,478ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,484ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,484ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,497ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,497ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,650ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,650ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,956ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,956ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [74,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,001ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,001ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:39:23Z [75,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:39:24Z [76,281ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:20.604] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:20.644] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:39:35Z [86,445ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:30.989] [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. +[00:01:30.993] [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. +2026-09-20T10:39:35Z [87,305ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:39:35Z [87,306ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:39:35Z [87,308ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:39:35Z [87,309ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:39:39Z [90,835ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:39:47Z [98,585ms] [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 +2026-09-20T10:39:47Z [98,669ms] [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 +2026-09-20T10:39:55Z [106,801ms] [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 +2026-09-20T10:39:56Z [107,384ms] [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 +2026-09-20T10:40:04Z [115,877ms] [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 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 240 lower_bin_for_reachable_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 360 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 480 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 600 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 720 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 840 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 1080 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 1200 lower_bin_for_reachable_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 1320 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_115'} +RECOVERY progress 1440 release_into_aligned_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 1560 retract_hand_after_release {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 1680 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 1920 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 2040 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 2160 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': None} +2026-09-20T10:45:54Z [466,280ms] [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 +RECOVERY progress 2280 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 2400 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 2520 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 2640 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 2760 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 2880 retract_hand_after_release {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3000 human_carry_pose_for_pick {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3120 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3240 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3480 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 3600 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +2026-09-20T10:49:57Z [708,536ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-20T10:49:57Z [708,569ms] [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 +RECOVERY progress 3720 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 3840 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 3960 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 4080 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': 'can_of_soda_113'} +RECOVERY progress 4200 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +RECOVERY progress 4320 verify_goal {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'trash_can_116', 'right': None} +GEOMETRY_QA False 0 +2026-09-20T10:51:23Z [794,512ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:51:23Z [794,512ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:51:23Z [794,512ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[794.634s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..755b4b539cb6697cfd3fca1061edd6e0e09f2782 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe192d672422a6846aa3a252b2fe5db9e280efb31d0a407376410b973ba99d0 +size 4326 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..37d290bddba84bee267779ce6b292708199d453a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019500-f005787/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 +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..11b95b9450541c1e55f1b0baa4d28456934d8214 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:293afb29855dbfd3c2951168ea8c8e2fdfee0cd865da72575ca3c46a078f1dc5 +size 68155359 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf93fcda66c1d7c9c49f5ee7692c71708080b821 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb918f6c314f6edaeea65f1e129aa7a1bedabc5f7ce0504bf3da5ad4bbe53f4e +size 8650422 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/case.json new file mode 100644 index 0000000000000000000000000000000000000000..7e0e2c34633e1eccb782880ce36702f03fc885d7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019500-f005787/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019500-f005787", + "kind": "vla", + "episode_id": "00019500", + "instance_id": 950, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019500.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019500.json", + "frame": 5787, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4067, + 10535 + ], + "reason": "Place-in never completes: Inside(can,ashcan) never flips across 6468 frames. The can reaches Touching(ashcan) at f5787 \u2014 the closest approach to the mouth in the whole episode \u2014 and loses contact 57 frames later without seating. Everything after f5787 is retreat-and-retry (NextTo flips five more times) and by f9375 the can ends up Under the trash. f5787 is the last frame progress toward Inside was still increasing; earlier seeds discard productive transport, later seeds land past the point where the can/rim geometry is recoverable. 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Per the ordering rule seed is placed at the row's first frame \u2014 the moment the plan diverged. The demo A1 skill is pick_up_from trash_can_116 with the right arm, which the initial-state pose supports directly." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e0fcddc8a76ffe23b1b450076282b96780f2cf0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/events.jsonl @@ -0,0 +1,241 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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"start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1884, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1899, "event": "joint_tracking", "max_error_rad": 0.01722121238708496} +{"step": 1899, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.0146775245666504, 2.4012014865875244, 0.37425440549850464], "desired_xyz": [2.014245432070693, 2.401263129429851, 0.36354158971837436], "error_m": 0.0107217034889089} +{"step": 1899, "event": "eef_target", "arm": "right", "body_xyz": [0.5175691275045572, -0.323656076117375, 0.3279870303482052], "world_xyz": [2.014249407155911, 2.401261591348715, 0.3335348398314179], "held": {"left": null, "right": null}} +{"step": 1899, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1899, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1914, "event": "joint_tracking", "max_error_rad": 0.06663751602172852} +{"step": 1922, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.0147864818573, 2.4010732173919678, 0.37401118874549866], "desired_xyz": [2.014249407155911, 2.401261591348715, 0.3335348398314179], "error_m": 0.04048035023807055} +{"step": 1922, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/zed_link", "body1": "/World/scene_0/stairs_tikozn_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}], "actual_q": [-3.164240837097168, -1.6813424825668335, 0.024824803695082664, -0.009600915014743805, 0.0033122804015874863, -2.2063844203948975, 1.2356501817703247, -1.222153663635254, -0.4054950177669525, 0.046994518488645554, -0.2180468738079071, -0.2772060036659241, -0.03898988291621208, -0.05967215076088905, 0.037224557250738144, -0.04809305816888809, -0.04113408550620079, -0.2081359326839447, 0.036939263343811035, -0.030751876533031464, 0.10918715596199036, -0.24127152562141418, 0.056200020015239716, -0.15684157609939575, 0.049999434500932693, 0.049999576061964035, 0.04999902844429016, 0.04999979957938194]} +{"step": 1922, "event": "actions_rejected", "start": 1884, "end": 1922, "reason": "eef_execution_blocked"} +{"step": 1922, "event": "primitive_failure", "operation": "pick_bin", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..6cc4b04c33f2438848e374e7d273c1e48bed9753 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1922 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 289, in pick\n self.descend_and_close(obj, arm, target[:3, 3], orientation, ref)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 349, in descend_and_close\n self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref[\"q\"])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 412, in _eef_world_once\n raise RecoveryFailure(\"eef_execution_blocked\")\ntask01_recovery.control.RecoveryFailure: eef_execution_blocked\n", + "steps": 1922, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 2.371356725692749, + 1.910506248474121, + 0.3814895749092102 + ], + [ + 0.9741283655166626, + 0.1802888810634613, + 0.1362675428390503, + -0.0010383098851889372 + ] + ], + "right": [ + [ + 2.0147864818573, + 2.4010732173919678, + 0.37401118874549866 + ], + [ + 0.9776078462600708, + 0.10121161490678787, + -0.16529856622219086, + -0.08194869011640549 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 1.9923546314239502, + 3.910093307495117, + 0.06461401283740997 + ], + "can__of__soda.n.01_2": [ + 4.517467021942139, + 5.485491752624512, + 0.07145737111568451 + ], + "can__of__soda.n.01_1": [ + 4.943747043609619, + 5.65402889251709, + 0.07145702838897705 + ], + "ashcan.n.01_1": [ + 2.027552366256714, + 2.303825855255127, + 0.13483594357967377 + ] + }, + "robot_pose": [ + [ + 2.5959160327911377, + 2.216383695602417, + 0.005507871508598328 + ], + [ + -0.00033340416848659515, + 0.0005688550882041454, + -0.9921395182609558, + 0.12513510882854462 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 581 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cf163e882e81f81a07a9730965764aed616a2b34 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac7045cf50da31feb28de256e8a57cb3830e908d543608e59e6522df483655e2 +size 388793 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..6afd8b6055ebdc966cba58cbbb5e43283082b56d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/run.log @@ -0,0 +1,650 @@ +RECOVERY building environment +[00:00:04.787] [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_183939.log +[0.091s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.201s] [ext: omni.metrics.core-0.0.3] startup +[0.201s] [ext: omni.client.lib-1.1.0] startup +[0.221s] [ext: omni.blobkey-1.1.2] startup +[0.221s] [ext: omni.stats-1.0.1] startup +[0.222s] [ext: omni.datastore-0.0.0] startup +[0.225s] [ext: omni.client-1.3.0] startup +[0.228s] [ext: omni.ujitso.default-1.0.0] startup +[0.229s] [ext: omni.hsscclient-1.1.2] startup +[0.246s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.247s] [ext: omni.assets.plugins-0.0.0] startup +[0.248s] [ext: omni.gpu_foundation-0.0.0] startup +[0.253s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-20T10:39:40Z [223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:40Z [223ms] [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) +[0.254s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-20T10:39:40Z [245ms] [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: 43617 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-20T10:39:40Z [908ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.103s] [ext: omni.materialx.libs-1.0.7] startup +[1.112s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.113s] [ext: omni.kit.test-2.0.1] startup +[1.133s] [ext: omni.usd.config-1.0.6] startup +[1.135s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.136s] [ext: omni.usd.libs-1.0.1] startup +[1.285s] [ext: omni.kit.telemetry-0.5.2] startup +[1.305s] [ext: omni.mdl-56.0.3] startup +[1.320s] [ext: omni.iray.libs-0.0.0] startup +[1.325s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.327s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.394s] [ext: omni.kit.pipapi-0.0.0] startup +[1.394s] [ext: omni.appwindow-1.1.10] startup +2026-09-20T10:39:41Z [1,364ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,364ms] [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) +[1.396s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-20T10:39:41Z [1,379ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,379ms] [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) +2026-09-20T10:39:41Z [1,384ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,384ms] [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) +[1.416s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.418s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-20T10:39:41Z [1,389ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,389ms] [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) +2026-09-20T10:39:41Z [1,390ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,390ms] [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) +2026-09-20T10:39:41Z [1,391ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T10:39:41Z [1,391ms] [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) +[1.461s] [ext: omni.ui-2.27.1] startup +[1.467s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.468s] [ext: carb.audio-0.1.0] startup +[1.471s] [ext: omni.uiaudio-1.0.0] startup +[1.472s] [ext: omni.kit.uiapp-0.0.0] startup +[1.472s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.473s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.482s] [ext: omni.usd_resolver-1.0.0] startup +[1.486s] [ext: omni.usd.core-1.5.3] startup +[1.489s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.505s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.523s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.525s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.527s] [ext: omni.kit.actions.core-1.0.0] startup +[1.529s] [ext: omni.activity.core-1.0.3] startup +[1.530s] [ext: omni.kit.commands-1.4.10] startup +[1.532s] [ext: usdrt.scenegraph-7.6.1] startup +[1.564s] [ext: omni.resourcemonitor-107.0.1] startup +[1.566s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.568s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.579s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.579s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.584s] [ext: omni.graph.exec-0.9.6] startup +[1.585s] [ext: omni.timeline-1.0.14] startup +[1.588s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.590s] [ext: omni.kit.exec.core-0.13.4] startup +[1.592s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.602s] [ext: omni.usd-1.13.10] startup +[1.636s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.649s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.649s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.658s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.667s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.673s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.673s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.674s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.721s] [ext: omni.inspect-1.0.2] startup +[1.722s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.724s] [ext: omni.graph.core-2.184.5] startup +[1.729s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.730s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.731s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.740s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.746s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.747s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.752s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.753s] [ext: omni.kit.clipboard-1.0.5] startup +[1.754s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.766s] [ext: omni.ui.scene-1.11.5] startup +[1.771s] [ext: omni.index.libs-380600.8087.0] startup +[1.771s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.780s] [ext: omni.index-1.0.1] startup +[1.781s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.781s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.783s] [ext: omni.volume-0.5.2] startup +[1.787s] [ext: omni.ujitso.client-0.0.0] startup +[1.788s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.789s] [ext: omni.kit.menu.core-1.1.2] startup +[1.790s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-20T10:39:41Z [1,790ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.846s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.847s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.852s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.853s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.859s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.866s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.870s] [ext: omni.kit.context_menu-1.8.6] startup +[1.871s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.874s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.874s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.876s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.882s] [ext: omni.kit.material.library-2.0.7] startup +[1.886s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.886s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.889s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.901s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.902s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.902s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.903s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.903s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.904s] [ext: omni.kit.browser.core-2.3.13] startup +[1.906s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.906s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.913s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.916s] [ext: omni.kit.window.file-2.0.5] startup +[1.918s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.918s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.918s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.920s] [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 +[1.935s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.943s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.944s] [ext: omni.graph.action_core-1.1.7] startup +[1.945s] [ext: omni.graph-1.141.2] startup +[1.972s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.973s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.976s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.981s] [ext: omni.kit.window.stage-2.6.1] startup +[1.986s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.987s] [ext: omni.graph.action-1.130.0] startup +[1.987s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.992s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.994s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.996s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.999s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.007s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.011s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.015s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.017s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.053s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.055s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.056s] [ext: omni.kit.window.property-1.12.1] startup +[2.059s] [ext: omni.ui_query-1.1.8] startup +[2.059s] [ext: omni.kit.property.usd-4.5.12] startup +[2.067s] [ext: omni.kit.menu.create-2.0.1] startup +[2.070s] [ext: isaacsim.core.version-2.0.6] startup +[2.071s] [ext: omni.kit.ui_test-1.3.7] startup +[2.073s] [ext: omni.kit.scripting-107.3.2] startup +[2.078s] [ext: omni.convexdecomposition-107.3.26] startup +[2.083s] [ext: isaacsim.storage.native-1.5.1] startup +[2.085s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.094s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.098s] [ext: omni.kvdb-107.3.26] startup +[2.108s] [ext: omni.usdphysics-107.3.26] startup +[2.110s] [ext: omni.physx.foundation-107.3.26] startup +[2.112s] [ext: omni.localcache-107.3.26] startup +[2.113s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.117s] [ext: omni.physx.cooking-107.3.26] startup +[2.120s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.121s] [ext: omni.physx-107.3.26] startup +[2.130s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.135s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.136s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.142s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.151s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.153s] [ext: isaacsim.gui.components-1.2.1] startup +[2.157s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.169s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.236s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.242s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.249s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.254s] [ext: omni.fabric.commands-1.1.6] startup +[2.257s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.258s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.260s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.268s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.270s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.271s] [ext: omni.debugdraw-0.1.4] startup +[2.278s] [ext: omni.physics-107.3.26] startup +[2.282s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.303s] [ext: omni.physx.commands-107.3.26] startup +[2.307s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.309s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.311s] [ext: omni.physx.ui-107.3.26] startup +[2.334s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.340s] [ext: omni.physx.supportui-107.3.26] startup +[2.351s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.353s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.354s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.358s] [ext: omni.physics.physx-107.3.26] startup +2026-09-20T10:39:42Z [2,330ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.361s] [ext: omni.physics.tensors-107.3.26] startup +[2.366s] [ext: omni.warp.core-1.8.2] startup +[2.502s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.504s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:39:42Z [2,480ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.511s] [ext: omni.physx.tensors-107.3.26] startup +[2.517s] [ext: isaacsim.core.utils-3.5.1] startup +[2.521s] [ext: omni.graph.image.core-0.6.1] startup +[2.522s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.610s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.612s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.614s] [ext: isaacsim.core.prims-0.6.1] startup +[2.636s] [ext: omni.syntheticdata-0.6.13] startup +[2.647s] [ext: isaacsim.core.api-4.8.0] startup +[2.671s] [ext: omni.videoencoding-0.1.2] startup +[2.675s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.676s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.680s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.681s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.682s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.688s] [ext: omni.graph.nodes-1.170.10] startup +[2.705s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.708s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.712s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:39:42Z [2,682ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.713s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.722s] [ext: omni.warp-1.8.2] startup +[2.729s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.743s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.746s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.757s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.813s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:39:42Z [2,804ms] [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 +2026-09-20T10:39:42Z [2,911ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:39:42Z [2,911ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:39:42Z [2,911ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.944s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.945s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.950s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.958s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:39:42Z [2,929ms] [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. +[2.960s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.965s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.974s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.986s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.989s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.990s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:39:42Z [2,964ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.999s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.000s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:39:42Z [2,972ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.003s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:39:42Z [2,975ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.007s] [ext: omni.anim.curve.core-1.3.1] startup +[3.023s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:39:42Z [2,994ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:39:42Z [2,994ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:39:42Z [3,013ms] [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. +[3.044s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.079s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:39:42Z [3,056ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.120s] [ext: omni.kit.selection-0.1.6] startup +[3.133s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.228s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:39:43Z [3,202ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,207ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,212ms] [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. +2026-09-20T10:39:43Z [3,220ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,221ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,224ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,238ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,241ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,242ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:39:43Z [3,242ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.297s] [ext: isaacsim.gui.menu-2.4.4] 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. +[3.362s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.383s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.397s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:39:43Z [3,370ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.403s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.412s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:39:43Z [3,386ms] [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. +2026-09-20T10:39:43Z [3,388ms] [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. +2026-09-20T10:39:43Z [3,393ms] [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. +2026-09-20T10:39:43Z [3,394ms] [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. +2026-09-20T10:39:43Z [3,394ms] [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. +2026-09-20T10:39:43Z [3,395ms] [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. +2026-09-20T10:39:43Z [3,395ms] [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. +2026-09-20T10:39:43Z [3,396ms] [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. +2026-09-20T10:39:43Z [3,396ms] [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. +2026-09-20T10:39:43Z [3,396ms] [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. +2026-09-20T10:39:43Z [3,397ms] [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. +2026-09-20T10:39:43Z [3,399ms] [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. +2026-09-20T10:39:43Z [3,400ms] [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. +2026-09-20T10:39:43Z [3,401ms] [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. +2026-09-20T10:39:43Z [3,401ms] [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. +2026-09-20T10:39:43Z [3,401ms] [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. +[3.433s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:39:43Z [3,408ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.441s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:39:43Z [3,415ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:39:43Z [3,415ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.447s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:39:43Z [3,423ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.459s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:39:43Z [3,431ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.462s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.470s] [ext: omni.isaac.utils-2.0.6] startup +[3.474s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.491s] [ext: isaacsim.app.about-2.0.11] startup +[3.496s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:39:43Z [3,467ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.506s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.508s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:39:43Z [3,482ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:39:43Z [3,484ms] [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. +2026-09-20T10:39:43Z [3,484ms] [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. +2026-09-20T10:39:43Z [3,488ms] [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. +2026-09-20T10:39:43Z [3,489ms] [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. +2026-09-20T10:39:43Z [3,490ms] [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. +2026-09-20T10:39:43Z [3,490ms] [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. +2026-09-20T10:39:43Z [3,490ms] [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. +2026-09-20T10:39:43Z [3,491ms] [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. +2026-09-20T10:39:43Z [3,492ms] [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. +2026-09-20T10:39:43Z [3,493ms] [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. +2026-09-20T10:39:43Z [3,498ms] [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. +[3.530s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:39:43Z [3,517ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:39:43Z [3,518ms] [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. +[3.551s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.570s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:39:43Z [3,541ms] [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. +[3.572s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.611s] [ext: omni.kit.property.audio-1.0.16] startup +[3.614s] [ext: omni.kit.property.camera-1.0.10] startup +[3.623s] [ext: omni.sensors.net-1.0.0] startup +[3.629s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.637s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.642s] [ext: omni.kit.property.light-1.0.12] startup +[3.704s] [ext: omni.kit.property.material-1.11.9] startup +[3.711s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.714s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.717s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.722s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.728s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.734s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.737s] [ext: omni.kit.property.render-1.2.1] startup +[3.739s] [ext: omni.kit.property.transform-1.5.13] startup +[3.743s] [ext: isaacsim.gui.property-1.1.3] startup +[3.745s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.750s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.758s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.764s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.770s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.773s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:39:43Z [3,743ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:39:43Z [3,743ms] [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. +[3.774s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:39:43Z [3,744ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:39:43Z [3,744ms] [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. +[3.775s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.788s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:39:43Z [3,759ms] [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. +2026-09-20T10:39:43Z [3,759ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:39:43Z [3,759ms] [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. +2026-09-20T10:39:43Z [3,759ms] [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. +2026-09-20T10:39:43Z [3,759ms] [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. +2026-09-20T10:39:43Z [3,759ms] [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. +2026-09-20T10:39:43Z [3,760ms] [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. +2026-09-20T10:39:43Z [3,760ms] [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. +2026-09-20T10:39:43Z [3,761ms] [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. +2026-09-20T10:39:43Z [3,761ms] [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. +2026-09-20T10:39:43Z [3,761ms] [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. +[3.792s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:39:43Z [3,764ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.795s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.800s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.811s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.814s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.816s] [ext: omni.ocio-0.1.1] startup +[3.820s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.836s] [ext: omni.kit.window.console-1.1.4] startup +[3.847s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.853s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:39:43Z [3,823ms] [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. +[3.854s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.860s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.865s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.876s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:39:43Z [3,846ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.877s] [ext: semantics.schema.editor-2.0.2] startup +[3.882s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.884s] [ext: semantics.schema.property-2.0.1] startup +[3.885s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:39:43Z [3,855ms] [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. +2026-09-20T10:39:43Z [3,855ms] [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. +2026-09-20T10:39:43Z [3,856ms] [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. +[3.886s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:39:43Z [3,858ms] [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. +2026-09-20T10:39:43Z [3,858ms] [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. +2026-09-20T10:39:43Z [3,858ms] [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. +2026-09-20T10:39:43Z [3,858ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.889s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.912s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.920s] [ext: omni.kit.menu.common-2.0.1] startup +[3.923s] [ext: isaacsim.exp.base-5.1.0] startup +[3.924s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.925s] Simulation App Starting +2026-09-20T10:39:43Z [3,946ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:39:43Z [3,969ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.030s] app ready +[6.353s] Simulation App Startup Complete +[6.727s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:39:46Z [6,887ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:39:47Z [7,870ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.752] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.920] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:40:47Z [67,814ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:40:51Z [72,131ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T10:40:52Z [72,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,546ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,546ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,584ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,584ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,652ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,652ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,698ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:52Z [72,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,483ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,516ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,517ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,517ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,546ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,547ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,565ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,565ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,575ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,575ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,580ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,580ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,586ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,586ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,591ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,591ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,738ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,738ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,739ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [73,739ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,040ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:53Z [74,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:40:54Z [74,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:40:54Z [74,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:20.246] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:20.285] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:41:04Z [84,210ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:30.605] [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. +[00:01:30.608] [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. +2026-09-20T10:41:05Z [85,771ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:41:05Z [85,774ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:41:05Z [85,775ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:41:05Z [85,776ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:41:09Z [89,343ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:41:16Z [96,765ms] [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 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 960 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1080 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1200 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1320 recover_and_reobserve {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1560 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1680 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1800 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1920 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 289, in pick + self.descend_and_close(obj, arm, target[:3, 3], orientation, ref) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 349, in descend_and_close + self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref["q"]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 412, in _eef_world_once + raise RecoveryFailure("eef_execution_blocked") +task01_recovery.control.RecoveryFailure: eef_execution_blocked + +2026-09-20T10:49:05Z [565,141ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:49:05Z [565,141ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:49:05Z [565,141ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[565.285s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..ea54e796a82ac5e679ff42172d7ec88829dc693b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92a5decdb9f7696c2e3311f2c23fcf73ad5056a43231360293d54ef25091c965 +size 2050 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1c8c1c62045f1f538bd09454406a0c46149d8d09 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69d830cad980cf10c50f80ca9a31d65b9dbbf5f4bfdea9626bcc2f019a318e0b +size 29862216 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d591b209fc03bcbf1fd46721558ec92fdcbfaf7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:490efca5d140a4ba776709cae1e82d39a532bb4ecfcb968e23343480c5c90451 +size 4132793 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..394feb0b3bd0d4621a363933a6279a4004517815 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019510-f000000", + "kind": "vla", + "episode_id": "00019510", + "instance_id": 951, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019510.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019510.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 1914 + ], + "reason": "Ordering failure at the very first frame: the trash can fills both wrist cameras at f0 (the robot is standing beside it) but is never grasped; the robot instead walks to the living room and picks a soda can with the wrong arm. Per the ordering rule seed is placed at the row's first frame \u2014 the moment the plan diverged. The demo A1 skill is pick_up_from trash_can_116 with the right arm, which the initial-state pose supports directly." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..08e7a2bd2f871ba22dc79138dec7e2131d6ae272 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f000000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019510-f000000", + "episode_id": "00019510", + "instance_id": 951, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-20T10:50:36+00:00", + "success": false, + "status": "error", + "error": "eef_execution_blocked", + "teacher_steps": 1922, + "dataset_frames": 1922, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019510-f000000/attempt_001/dataset", + "video": "runs/vla-episode_00019510-f000000/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 80 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dafd8606ca878c680b7c4d0c1b7e5792f1bd5113 --- /dev/null +++ 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Seed at row's first frame per the ordering rule; state (can held without container held) does not appear in inspected demos, so this is a recovery-from-broken-state seed rather than an episode restart." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fca15b8e03554bcaec91ec029aad5d2bd0605fbb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/events.jsonl @@ -0,0 +1,338 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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2.869110107421875, 0.005285352468490601], [4.724971950054169e-05, 6.557438609888777e-05, -0.6540111899375916, 0.7564849257469177]]}} +{"step": 1456, "event": "tuck_idle_arm", "arm": "left", "target_local": [0.3, 0.22, 0.45]} +{"step": 1456, "event": "eef_target", "arm": "left", "body_xyz": [0.28588314146262567, 0.20619930645038978, 0.4136763823913746], "world_xyz": [2.3569892328321913, 2.615967734723193, 0.41891275213610385], "held": {"left": null, "right": null}} +{"step": 1456, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1456, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1486, "event": "joint_tracking", "max_error_rad": 2.0563602447509766e-06} +{"step": 1486, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.3569843769073486, 2.615976095199585, 0.4188753068447113], "desired_xyz": [2.3569892328321913, 2.615967734723193, 0.41891275213610385], "error_m": 3.867334248617326e-05} +{"step": 1486, "event": "eef_target", "arm": "left", "body_xyz": [0.29999632939219817, 0.21999785153877308, 0.44999981993153587], "world_xyz": [2.372686799633499, 2.6039881389715323, 0.4552338990857449], "held": {"left": null, "right": null}} +{"step": 1486, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1486, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1516, "event": "joint_tracking", "max_error_rad": 1.1771917343139648e-06} +{"step": 1516, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.3726890087127686, 2.6039772033691406, 0.4551967978477478], "desired_xyz": [2.372686799633499, 2.6039881389715323, 0.4552338990857449], "error_m": 3.874234494458997e-05} +{"step": 1516, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": false} +{"step": 1516, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": false} +{"step": 1516, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": false} +{"step": 1516, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 1516, "event": "approach_candidates", "key": "pick_bin", "target": [2.02681303024292, 2.3029048442840576], "evaluated": 12, "traversable": 9, "previously_tried": 2, "chosen": {"xy": [2.0464638905001817, 3.030650571644342], "yaw": -1.3194924791139142, "delta": 0.4, "distance": 0.7}} +{"step": 1571, "event": "stage", "name": "grasp_bin", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": true, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[2.3371806144714355, 2.7601494789123535, 0.45519572496414185], [0.6186891794204712, 0.7823450565338135, -0.07134032994508743, -0.008407244458794594]], "right": [[1.9496957063674927, 2.393162965774536, 0.5975100994110107], [0.6523526310920715, 0.7217075228691101, -0.03366956487298012, 0.22899922728538513]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.5174784660339355, 5.485494136810303, 0.07145746797323227], "can__of__soda.n.01_3": [2.031437397003174, 2.297312021255493, 0.06713313609361649], "can__of__soda.n.01_1": [4.943742752075195, 5.654028415679932, 0.07145713269710541], "ashcan.n.01_1": [2.02681303024292, 2.3029048442840576, 0.1348360925912857]}, "robot_pose": [[2.050896644592285, 2.9978015422821045, 0.00528562068939209], [4.3973326683044434e-05, 6.702718383166939e-05, -0.6152861714363098, 0.7883038520812988]]}} +{"step": 1581, "event": "bin_grasp_target", "world": [1.938509650215881, 2.2524615964419223, 0.27178838210240996], "body": [0.6956919773235548, -0.2900299895655727, 0.26661106709650506]} +{"step": 1581, "event": "eef_target", "arm": "right", "body_xyz": [0.5841692208705285, -0.252515855117449, 0.5580276194508296], "world_xyz": [1.9478334498381245, 2.3697115454595385, 0.5632223517976469], "held": {"left": null, "right": null}} +{"step": 1581, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1581, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1598, "event": "joint_tracking", "max_error_rad": 7.301568984985352e-07} +{"step": 1598, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9478434324264526, 2.3697054386138916, 0.5632408857345581], "desired_xyz": [1.9478334498381245, 2.3697115454595385, 0.5632223517976469], "error_m": 2.1919225600236346e-05} +{"step": 1598, "event": "eef_target", "arm": "right", "body_xyz": [0.6064664052406814, -0.2600165337723528, 0.523744086405886], "world_xyz": [1.9459686899136759, 2.3462615556560156, 0.5289355578585994], "held": {"left": null, "right": null}} +{"step": 1598, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1598, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1615, "event": "joint_tracking", "max_error_rad": 6.556510925292969e-07} +{"step": 1615, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9459724426269531, 2.3462531566619873, 0.528952956199646], "desired_xyz": [1.9459686899136759, 2.3462615556560156, 0.5289355578585994], "error_m": 1.9680656208652285e-05} +{"step": 1615, "event": "eef_target", "arm": "right", "body_xyz": [0.6287625614540396, -0.2675106446234679, 0.48946056461305615], "world_xyz": [1.944103929989227, 2.3228115658524917, 0.49464876391955226], "held": {"left": null, "right": null}} +{"step": 1615, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1615, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1632, "event": "joint_tracking", "max_error_rad": 7.525086402893066e-07} +{"step": 1632, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9441126585006714, 2.3228046894073486, 0.4946642518043518], "desired_xyz": [1.944103929989227, 2.3228115658524917, 0.49464876391955226], "error_m": 1.9061662713491417e-05} +{"step": 1632, "event": "eef_target", "arm": "right", "body_xyz": [0.6510592788216771, -0.2750101844756962, 0.4551773961193096], "world_xyz": [1.9422391700647783, 2.2993615760489687, 0.46036196998050466], "held": {"left": null, "right": null}} +{"step": 1632, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1632, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1649, "event": "joint_tracking", "max_error_rad": 9.387731552124023e-07} +{"step": 1649, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.942247986793518, 2.2993555068969727, 0.4603767395019531], "desired_xyz": [1.9422391700647783, 2.2993615760489687, 0.46036196998050466], "error_m": 1.8240287153405093e-05} +{"step": 1649, "event": "eef_target", "arm": "right", "body_xyz": [0.6733559671483691, -0.2825106144105654, 0.4208936445753375], "world_xyz": [1.9403744101403297, 2.2759115862454458, 0.4260751760414574], "held": {"left": null, "right": null}} +{"step": 1649, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1649, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1666, "event": "joint_tracking", "max_error_rad": 8.195638656616211e-07} +{"step": 1666, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9403806924819946, 2.275904417037964, 0.4260878562927246], "desired_xyz": [1.9403744101403297, 2.2759115862454458, 0.4260751760414574], "error_m": 1.5863610084484756e-05} +{"step": 1666, "event": "eef_target", "arm": "right", "body_xyz": [0.6956521013916953, -0.2900079927184964, 0.3866106193498937], "world_xyz": [1.938509650215881, 2.2524615964419223, 0.39178838210240996], "held": {"left": null, "right": null}} +{"step": 1666, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1666, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1683, "event": "joint_tracking", "max_error_rad": 1.773238182067871e-06} +{"step": 1683, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9385161399841309, 2.2524540424346924, 0.3917999863624573], "desired_xyz": [1.938509650215881, 2.2524615964419223, 0.39178838210240996], "error_m": 1.5291794152861764e-05} +{"step": 1683, "event": "eef_target", "arm": "right", "body_xyz": [0.6956563500686308, -0.2900003305471933, 0.35661678902411603], "world_xyz": [1.938512895100006, 2.252457819438307, 0.3617941842324335], "held": {"left": null, "right": null}} +{"step": 1683, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1683, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1698, "event": "joint_tracking", "max_error_rad": 5.960464477539062e-07} +{"step": 1698, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.9385141134262085, 2.2524502277374268, 0.3618046045303345], "desired_xyz": [1.938512895100006, 2.252457819438307, 0.3617941842324335], "error_m": 1.2949936267740975e-05} +{"step": 1698, "event": "eef_target", "arm": "right", "body_xyz": [0.6956557821700288, -0.28999930565094345, 0.32661062491997], "world_xyz": [1.938509650215881, 2.2524615964419223, 0.33178838210240996], "held": {"left": null, "right": null}} +{"step": 1698, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1698, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1713, "event": "joint_tracking", "max_error_rad": 2.384185791015625e-07} +{"step": 1713, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.938509464263916, 2.2524538040161133, 0.33179792761802673], "desired_xyz": [1.938509650215881, 2.2524615964419223, 0.33178838210240996], "error_m": 1.232369045834116e-05} +{"step": 1713, "event": "eef_target", "arm": "right", "body_xyz": [0.6956604131948828, -0.2899946697543435, 0.291610555969354], "world_xyz": [1.938509650215881, 2.252461596441923, 0.2967883821024098], "held": {"left": null, "right": null}} +{"step": 1713, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1713, "event": "self_collision_guard", "rejected_self_collision": 12, "rejected_held_clearance": 0, "worst_rejected_pair": [["base_link", "left_gripper_finger_link2"], 0.005342465280020673], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1713, "event": "actions_rejected", "start": 1713, "end": 1713, "reason": "ik_infeasible:right:[ 0.696 -0.29 0.292]"} +{"step": 1713, "event": "primitive_failure", "operation": "pick_bin", "reason": "ik_infeasible:right:[ 0.696 -0.29 0.292]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..fd043d62f0d86ca88eb94186d843be61992e3799 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1713 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 289, in pick\n self.descend_and_close(obj, arm, target[:3, 3], orientation, ref)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 349, in descend_and_close\n self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref[\"q\"])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.696 -0.29 0.292]\n", + "steps": 1713, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": true, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 2.3448686599731445, + 2.8362977504730225, + 0.30261892080307007 + ], + [ + 0.5733511447906494, + 0.7969985604286194, + 0.08636286854743958, + -0.16912534832954407 + ] + ], + "right": [ + [ + 1.938509464263916, + 2.2524538040161133, + 0.33179792761802673 + ], + [ + 0.5174837708473206, + 0.8124431371688843, + -0.07878724485635757, + 0.256786584854126 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 4.5174784660339355, + 5.485494136810303, + 0.07145746797323227 + ], + "can__of__soda.n.01_3": [ + 2.031437397003174, + 2.297312021255493, + 0.06713313609361649 + ], + "can__of__soda.n.01_1": [ + 4.943742752075195, + 5.654028415679932, + 0.07145713269710541 + ], + "ashcan.n.01_1": [ + 2.02681303024292, + 2.3029048442840576, + 0.1348360925912857 + ] + }, + "robot_pose": [ + [ + 2.0509088039398193, + 2.9977598190307617, + 0.005285337567329407 + ], + [ + 4.369206726551056e-05, + 6.774982466595247e-05, + -0.6153069138526917, + 0.7882876396179199 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 541 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ec9f62462aa7253b58e93eb7d9585d57a3bab26a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb1de3e63e6e2a8571aee4abbc53aff1ccb89c6e7b499f05451d21afe2d04edd +size 414067 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..a0f2e19b78ab14fd24833ad90f4640bb9dae792c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/run.log @@ -0,0 +1,650 @@ +RECOVERY building environment +[00:00:03.592] [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_231921.log +[0.084s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.136s] [ext: omni.metrics.core-0.0.3] startup +[0.137s] [ext: omni.client.lib-1.1.0] startup +[0.147s] [ext: omni.blobkey-1.1.2] startup +[0.147s] [ext: omni.stats-1.0.1] startup +[0.148s] [ext: omni.datastore-0.0.0] startup +[0.153s] [ext: omni.client-1.3.0] startup +[0.155s] [ext: omni.ujitso.default-1.0.0] startup +[0.156s] [ext: omni.hsscclient-1.1.2] startup +[0.232s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.234s] [ext: omni.assets.plugins-0.0.0] startup +[0.235s] [ext: omni.gpu_foundation-0.0.0] startup +[0.242s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T15:19:21Z [214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:21Z [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) +[0.244s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T15:19:21Z [243ms] [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: 46873 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T15:19:21Z [819ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.968s] [ext: omni.materialx.libs-1.0.7] startup +[0.983s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.984s] [ext: omni.kit.test-2.0.1] startup +[1.003s] [ext: omni.usd.config-1.0.6] startup +[1.005s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.005s] [ext: omni.usd.libs-1.0.1] startup +[1.104s] [ext: omni.kit.telemetry-0.5.2] startup +[1.124s] [ext: omni.mdl-56.0.3] startup +[1.140s] [ext: omni.iray.libs-0.0.0] startup +[1.146s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.150s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.221s] [ext: omni.kit.pipapi-0.0.0] startup +[1.223s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T15:19:22Z [1,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,195ms] [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) +[1.225s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T15:19:22Z [1,208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,208ms] [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) +2026-09-21T15:19:22Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,214ms] [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) +[1.244s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.246s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T15:19:22Z [1,220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,220ms] [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) +2026-09-21T15:19:22Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,221ms] [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) +2026-09-21T15:19:22Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:19:22Z [1,221ms] [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) +[1.294s] [ext: omni.ui-2.27.1] startup +[1.301s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.302s] [ext: carb.audio-0.1.0] startup +[1.306s] [ext: omni.uiaudio-1.0.0] startup +[1.306s] [ext: omni.kit.uiapp-0.0.0] startup +[1.306s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.309s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.313s] [ext: omni.usd_resolver-1.0.0] startup +[1.317s] [ext: omni.usd.core-1.5.3] startup +[1.320s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.339s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.358s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.361s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.364s] [ext: omni.kit.actions.core-1.0.0] startup +[1.366s] [ext: omni.activity.core-1.0.3] startup +[1.367s] [ext: omni.kit.commands-1.4.10] startup +[1.372s] [ext: usdrt.scenegraph-7.6.1] startup +[1.401s] [ext: omni.resourcemonitor-107.0.1] startup +[1.402s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.403s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.411s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.411s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.415s] [ext: omni.graph.exec-0.9.6] startup +[1.415s] [ext: omni.timeline-1.0.14] startup +[1.416s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.418s] [ext: omni.kit.exec.core-0.13.4] startup +[1.419s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.425s] [ext: omni.usd-1.13.10] startup +[1.446s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.457s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.457s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.462s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.470s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.474s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.475s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.475s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.501s] [ext: omni.inspect-1.0.2] startup +[1.502s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.504s] [ext: omni.graph.core-2.184.5] startup +[1.508s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.508s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.509s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.515s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.518s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.519s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.521s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.522s] [ext: omni.kit.clipboard-1.0.5] startup +[1.523s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.530s] [ext: omni.ui.scene-1.11.5] startup +[1.533s] [ext: omni.index.libs-380600.8087.0] startup +[1.533s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.539s] [ext: omni.index-1.0.1] startup +[1.539s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.540s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.543s] [ext: omni.volume-0.5.2] startup +[1.545s] [ext: omni.ujitso.client-0.0.0] startup +[1.546s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.547s] [ext: omni.kit.menu.core-1.1.2] startup +[1.548s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T15:19:22Z [1,536ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.584s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.585s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.589s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.590s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.594s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.603s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.609s] [ext: omni.kit.context_menu-1.8.6] startup +[1.611s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.614s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.614s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.616s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.622s] [ext: omni.kit.material.library-2.0.7] startup +[1.627s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.628s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.631s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.644s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.644s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.646s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.646s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.647s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.647s] [ext: omni.kit.browser.core-2.3.13] startup +[1.651s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.651s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.661s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.665s] [ext: omni.kit.window.file-2.0.5] startup +[1.668s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.668s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.669s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.671s] [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 +[1.693s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.700s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.702s] [ext: omni.graph.action_core-1.1.7] startup +[1.704s] [ext: omni.graph-1.141.2] startup +[1.738s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.739s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.744s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.750s] [ext: omni.kit.window.stage-2.6.1] startup +[1.757s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.758s] [ext: omni.graph.action-1.130.0] startup +[1.759s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.763s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.771s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.772s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.775s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.780s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.783s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.784s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.786s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.796s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.797s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.799s] [ext: omni.kit.window.property-1.12.1] startup +[1.801s] [ext: omni.ui_query-1.1.8] startup +[1.802s] [ext: omni.kit.property.usd-4.5.12] startup +[1.811s] [ext: omni.kit.menu.create-2.0.1] startup +[1.813s] [ext: isaacsim.core.version-2.0.6] startup +[1.814s] [ext: omni.kit.ui_test-1.3.7] startup +[1.816s] [ext: omni.kit.scripting-107.3.2] startup +[1.820s] [ext: omni.convexdecomposition-107.3.26] startup +[1.823s] [ext: isaacsim.storage.native-1.5.1] startup +[1.825s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.832s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.836s] [ext: omni.kvdb-107.3.26] startup +[1.838s] [ext: omni.usdphysics-107.3.26] startup +[1.840s] [ext: omni.physx.foundation-107.3.26] startup +[1.842s] [ext: omni.localcache-107.3.26] startup +[1.844s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.849s] [ext: omni.physx.cooking-107.3.26] startup +[1.852s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.854s] [ext: omni.physx-107.3.26] startup +[1.862s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.867s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.869s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.872s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.878s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.880s] [ext: isaacsim.gui.components-1.2.1] startup +[1.883s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.886s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.947s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.954s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.957s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.963s] [ext: omni.fabric.commands-1.1.6] startup +[1.966s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.967s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.969s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.979s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.981s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.981s] [ext: omni.debugdraw-0.1.4] startup +[1.985s] [ext: omni.physics-107.3.26] startup +[1.987s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.005s] [ext: omni.physx.commands-107.3.26] startup +[2.009s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.011s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.013s] [ext: omni.physx.ui-107.3.26] startup +[2.036s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.042s] [ext: omni.physx.supportui-107.3.26] startup +[2.055s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.057s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.060s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.066s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T15:19:23Z [2,039ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.069s] [ext: omni.physics.tensors-107.3.26] startup +[2.076s] [ext: omni.warp.core-1.8.2] startup +[2.193s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.197s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:19:23Z [2,178ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.208s] [ext: omni.physx.tensors-107.3.26] startup +[2.215s] [ext: isaacsim.core.utils-3.5.1] startup +[2.219s] [ext: omni.graph.image.core-0.6.1] startup +[2.221s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.312s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.314s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.317s] [ext: isaacsim.core.prims-0.6.1] startup +[2.347s] [ext: omni.syntheticdata-0.6.13] startup +[2.359s] [ext: isaacsim.core.api-4.8.0] startup +[2.380s] [ext: omni.videoencoding-0.1.2] startup +[2.384s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.386s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.390s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.391s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.391s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.395s] [ext: omni.graph.nodes-1.170.10] startup +[2.404s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.409s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.414s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:19:23Z [2,387ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.417s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.426s] [ext: omni.warp-1.8.2] startup +[2.433s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.448s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.449s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.458s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.508s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:19:23Z [2,494ms] [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 +2026-09-21T15:19:23Z [2,602ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:19:23Z [2,602ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:19:23Z [2,602ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.633s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.636s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.643s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.656s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:19:23Z [2,629ms] [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. +[2.667s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.690s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.824s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.884s] [ext: isaacsim.core.throttling-2.2.2] 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. +[2.942s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.949s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:19:24Z [2,926ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.960s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.962s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:19:24Z [2,935ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.965s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:19:24Z [2,937ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.967s] [ext: omni.anim.curve.core-1.3.1] startup +[2.984s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:19:24Z [2,956ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:19:24Z [2,957ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:19:24Z [2,969ms] [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. +[2.998s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.013s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:19:24Z [2,985ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.015s] [ext: omni.kit.selection-0.1.6] startup +[3.017s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.026s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:19:24Z [2,998ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [2,999ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [2,999ms] [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. +2026-09-21T15:19:24Z [3,000ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,000ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,001ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,001ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,001ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,002ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:19:24Z [3,002ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.032s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.050s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.058s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.064s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:19:24Z [3,037ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.066s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.074s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:19:24Z [3,047ms] [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. +2026-09-21T15:19:24Z [3,048ms] [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. +2026-09-21T15:19:24Z [3,049ms] [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. +2026-09-21T15:19:24Z [3,049ms] [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. +2026-09-21T15:19:24Z [3,049ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,050ms] [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. +2026-09-21T15:19:24Z [3,052ms] [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. +2026-09-21T15:19:24Z [3,052ms] [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. +2026-09-21T15:19:24Z [3,052ms] [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. +2026-09-21T15:19:24Z [3,052ms] [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. +[3.081s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:19:24Z [3,054ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.083s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:19:24Z [3,057ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:19:24Z [3,057ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.086s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:19:24Z [3,058ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.087s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:19:24Z [3,061ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.090s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.092s] [ext: omni.isaac.utils-2.0.6] startup +[3.094s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.100s] [ext: isaacsim.app.about-2.0.11] startup +[3.102s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:19:24Z [3,073ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.103s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.104s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:19:24Z [3,079ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:19:24Z [3,079ms] [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. +2026-09-21T15:19:24Z [3,079ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,080ms] [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. +2026-09-21T15:19:24Z [3,081ms] [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. +2026-09-21T15:19:24Z [3,081ms] [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. +2026-09-21T15:19:24Z [3,082ms] [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. +[3.111s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:19:24Z [3,087ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:19:24Z [3,089ms] [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. +[3.118s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.124s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:19:24Z [3,095ms] [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. +[3.124s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.130s] [ext: omni.kit.property.audio-1.0.16] startup +[3.132s] [ext: omni.kit.property.camera-1.0.10] startup +[3.133s] [ext: omni.sensors.net-1.0.0] startup +[3.136s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.139s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.141s] [ext: omni.kit.property.light-1.0.12] startup +[3.151s] [ext: omni.kit.property.material-1.11.9] startup +[3.157s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.159s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.160s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.164s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.170s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.174s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.176s] [ext: omni.kit.property.render-1.2.1] startup +[3.177s] [ext: omni.kit.property.transform-1.5.13] startup +[3.181s] [ext: isaacsim.gui.property-1.1.3] startup +[3.183s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.188s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.193s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.201s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.206s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.207s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:19:24Z [3,179ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:19:24Z [3,179ms] [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. +[3.208s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:19:24Z [3,180ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:19:24Z [3,180ms] [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. +[3.209s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.220s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:19:24Z [3,192ms] [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. +2026-09-21T15:19:24Z [3,192ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,193ms] [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. +2026-09-21T15:19:24Z [3,194ms] [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. +2026-09-21T15:19:24Z [3,194ms] [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. +2026-09-21T15:19:24Z [3,194ms] [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. +[3.224s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:19:24Z [3,196ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.229s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.236s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.238s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.240s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.242s] [ext: omni.ocio-0.1.1] startup +[3.244s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.258s] [ext: omni.kit.window.console-1.1.4] startup +[3.263s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.269s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:19:24Z [3,241ms] [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. +[3.270s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.276s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.282s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.294s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:19:24Z [3,266ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.295s] [ext: semantics.schema.editor-2.0.2] startup +[3.300s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.301s] [ext: semantics.schema.property-2.0.1] startup +[3.303s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:19:24Z [3,275ms] [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. +2026-09-21T15:19:24Z [3,275ms] [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. +2026-09-21T15:19:24Z [3,276ms] [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. +[3.305s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:19:24Z [3,278ms] [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. +2026-09-21T15:19:24Z [3,278ms] [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. +2026-09-21T15:19:24Z [3,278ms] [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. +2026-09-21T15:19:24Z [3,278ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.307s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.320s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.326s] [ext: omni.kit.menu.common-2.0.1] startup +[3.329s] [ext: isaacsim.exp.base-5.1.0] startup +[3.329s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.330s] Simulation App Starting +2026-09-21T15:19:24Z [3,343ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T15:19:24Z [3,363ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.417s] app ready +[5.357s] Simulation App Startup Complete +[5.656s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:19:26Z [5,749ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:19:27Z [6,606ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.263] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.387] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:20:23Z [62,335ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:20:31Z [70,175ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T15:20:31Z [70,455ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,455ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,604ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,604ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,642ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,772ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,772ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,818ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,818ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:31Z [70,865ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,865ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,865ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,865ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,874ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [70,874ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,751ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,751ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,782ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,828ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:32Z [71,828ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [71,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [71,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [71,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [71,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,533ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:20:33Z [72,533ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:17.556] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:17.596] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:20:44Z [83,028ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:29.991] [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. +[00:01:29.993] [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. +2026-09-21T15:20:47Z [86,363ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:20:47Z [86,364ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:20:47Z [86,365ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:20:47Z [86,366ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:20:50Z [89,381ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:20:53Z [92,412ms] [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 +2026-09-21T15:20:57Z [96,546ms] [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 +2026-09-21T15:22:03Z [162,285ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': None} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': None} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': None} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': None} +RECOVERY progress 600 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1080 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1200 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1320 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1440 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1560 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1680 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 289, in pick + self.descend_and_close(obj, arm, target[:3, 3], orientation, ref) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 349, in descend_and_close + self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref["q"]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.696 -0.29 0.292] + +2026-09-21T15:28:16Z [535,368ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:28:16Z [535,368ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:28:16Z [535,368ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[535.499s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..6a3629b49b6d386c7d86857421d34b0f08ee827a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffef66cfd9d2e585ebc907c736c3bbd195ede605415bb61009f09efdbb727ba6 +size 1841 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..05364d8a1119dd44dd0f86cdac84cb65fcf06b82 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bb898a816a4fc6168fa7535f110876287ed4754d8c68aa89008e8ed30e3067f +size 26715987 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f52a3649c26d7f6d9a690df62f4a88c6a1c3373 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f38dea8c7bd156b6106f9db7e20d52f7bb1e98140dbd3184130d342348692cc +size 3937922 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/case.json new file mode 100644 index 0000000000000000000000000000000000000000..a292bd2427509f65b64a3feef31ced5bbdbf217b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019510-f001915", + "kind": "vla", + "episode_id": "00019510", + "instance_id": 951, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019510.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019510.json", + "frame": 1915, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 1915, + 5720 + ], + "reason": "Ordering row: at f1915 the left gripper has just closed on can_of_soda_113 and the trash can is still in the kitchen, so the plan-legal action from this state is to place the held can into the container. Seed at row's first frame per the ordering rule; state (can held without container held) does not appear in inspected demos, so this is a recovery-from-broken-state seed rather than an episode restart." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..937a98897af6c72080d28d97058a5ba3c7331ef1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f001915/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019510-f001915", + "episode_id": "00019510", + "instance_id": 951, + "start_type": "judgement_seed", + "source_frame": 1915, + "attempt": "attempt_001", + "completed_at": "2026-09-21T15:29:38+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:right:[ 0.696 -0.29 0.292]", + "teacher_steps": 1713, + "dataset_frames": 1713, + "dataset_passed": true, + "supervised_frames": 699, + "dataset_root": "runs/vla-episode_00019510-f001915/attempt_001/dataset", + "video": "runs/vla-episode_00019510-f001915/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": "can_of_soda_113", + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 80 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..94c50de0892214a153abc381b9207ca65768f962 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7e0940ae7e66042fe21d41ef44516b7b36518e9b678ee14efca546516aadb0f +size 2149902 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..49a1d15fa33e1bca329e11cf5046495e847b1b8f --- /dev/null +++ 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Seed at row's first frame per the ordering rule; the drop event itself was not selected as it lies inside the failure and would restore a state with the can already released." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38370959065606b8a441d9360e49a1fbd7cfe178 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/events.jsonl @@ -0,0 +1,585 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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0000000000000000000000000000000000000000..3bd46deace9d68bb0bcf69eb48e6d7e303693c3a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4017 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.265s] [ext: omni.physics.tensors-107.3.26] startup +[3.270s] [ext: omni.warp.core-1.8.2] startup +[3.385s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.387s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T05:19:26Z [3,316ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.398s] [ext: omni.physx.tensors-107.3.26] startup +[3.407s] [ext: isaacsim.core.utils-3.5.1] startup +[3.411s] [ext: omni.graph.image.core-0.6.1] startup +[3.413s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.494s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.496s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.499s] [ext: isaacsim.core.prims-0.6.1] startup +[3.517s] [ext: omni.syntheticdata-0.6.13] startup +[3.534s] [ext: isaacsim.core.api-4.8.0] startup +[3.550s] [ext: omni.videoencoding-0.1.2] startup +[3.554s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.555s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.558s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.559s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.559s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.564s] [ext: omni.graph.nodes-1.170.10] startup +[3.596s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.599s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.603s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T05:19:26Z [3,523ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.604s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.620s] [ext: omni.warp-1.8.2] startup +[3.628s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.638s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.640s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.647s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.681s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T05:19:26Z [3,619ms] [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 +2026-09-22T05:19:26Z [3,882ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T05:19:26Z [3,882ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T05:19:26Z [3,885ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.970s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.976s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.992s] [ext: isaacsim.core.nodes-3.4.3] startup +[4.011s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T05:19:26Z [3,933ms] [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. +[4.018s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[4.039s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[4.102s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[4.166s] [ext: isaacsim.core.throttling-2.2.2] startup +[4.183s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[4.189s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T05:19:26Z [4,116ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[4.208s] [ext: isaacsim.cortex.framework-1.0.12] startup +[4.211s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T05:19:26Z [4,154ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[4.240s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T05:19:26Z [4,178ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[4.260s] [ext: omni.anim.curve.core-1.3.1] startup +[4.349s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T05:19:26Z [4,274ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:19:26Z [4,278ms] [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. +2026-09-22T05:19:27Z [4,376ms] [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. +[4.457s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[4.474s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T05:19:27Z [4,394ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[4.475s] [ext: omni.kit.selection-0.1.6] startup +[4.478s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[4.488s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T05:19:27Z [4,408ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,408ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,409ms] [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. +2026-09-22T05:19:27Z [4,412ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,412ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,414ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,415ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,415ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,415ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:19:27Z [4,415ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[4.498s] [ext: isaacsim.gui.menu-2.4.4] startup +[4.509s] [ext: isaacsim.sensors.physics-0.4.3] startup +[4.519s] [ext: isaacsim.asset.browser-1.3.23] startup +[4.529s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T05:19:27Z [4,451ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[4.533s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[4.543s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T05:19:27Z [4,463ms] [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. +2026-09-22T05:19:27Z [4,463ms] [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. +2026-09-22T05:19:27Z [4,464ms] [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. +2026-09-22T05:19:27Z [4,465ms] [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. +2026-09-22T05:19:27Z [4,465ms] [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. +2026-09-22T05:19:27Z [4,465ms] [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. +2026-09-22T05:19:27Z [4,465ms] [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. +2026-09-22T05:19:27Z [4,466ms] [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. +2026-09-22T05:19:27Z [4,466ms] [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. +2026-09-22T05:19:27Z [4,466ms] [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. +2026-09-22T05:19:27Z [4,467ms] [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. +2026-09-22T05:19:27Z [4,467ms] [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. +2026-09-22T05:19:27Z [4,467ms] [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. +2026-09-22T05:19:27Z [4,467ms] [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. +2026-09-22T05:19:27Z [4,468ms] [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. +2026-09-22T05:19:27Z [4,468ms] [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. +[4.550s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T05:19:27Z [4,470ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.553s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T05:19:27Z [4,474ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T05:19:27Z [4,474ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[4.555s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T05:19:27Z [4,475ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[4.556s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T05:19:27Z [4,479ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.563s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[4.568s] [ext: omni.isaac.utils-2.0.6] startup +[4.570s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[4.580s] [ext: isaacsim.app.about-2.0.11] startup +[4.583s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T05:19:27Z [4,503ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[4.587s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[4.589s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T05:19:27Z [4,510ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T05:19:27Z [4,511ms] [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. +2026-09-22T05:19:27Z [4,511ms] [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. +2026-09-22T05:19:27Z [4,512ms] [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. +2026-09-22T05:19:27Z [4,512ms] [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. +2026-09-22T05:19:27Z [4,512ms] [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. +2026-09-22T05:19:27Z [4,513ms] [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. +2026-09-22T05:19:27Z [4,514ms] [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. +2026-09-22T05:19:27Z [4,514ms] [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. +2026-09-22T05:19:27Z [4,515ms] [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. +2026-09-22T05:19:27Z [4,515ms] [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. +2026-09-22T05:19:27Z [4,516ms] [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. +[4.597s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T05:19:27Z [4,525ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T05:19:27Z [4,526ms] [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. +[4.607s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[4.611s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T05:19:27Z [4,531ms] [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. +[4.613s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.654s] [ext: omni.kit.property.audio-1.0.16] startup +[4.655s] [ext: omni.kit.property.camera-1.0.10] startup +[4.657s] [ext: omni.sensors.net-1.0.0] startup +[4.662s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.669s] [ext: omni.kit.property.geometry-2.0.4] startup +[4.672s] [ext: omni.kit.property.light-1.0.12] startup +[4.715s] [ext: omni.kit.property.material-1.11.9] startup +[4.723s] [ext: omni.sensors.nv.ids-2.0.0] startup +[4.726s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[4.731s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[4.744s] [ext: omni.hydra.scene_api-0.1.2] startup +[4.751s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.756s] [ext: omni.sensors.nv.radar-3.0.0] startup +[4.762s] [ext: omni.kit.property.render-1.2.1] startup +[4.763s] [ext: omni.kit.property.transform-1.5.13] startup +[4.767s] [ext: isaacsim.gui.property-1.1.3] startup +[4.769s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.775s] [ext: isaacsim.sensors.camera-1.3.6] startup +[4.783s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[4.795s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.801s] [ext: omni.kit.property.bundle-1.4.1] startup +[4.806s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T05:19:27Z [4,726ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T05:19:27Z [4,727ms] [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. +[4.807s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T05:19:27Z [4,727ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T05:19:27Z [4,728ms] [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. +[4.809s] [ext: isaacsim.replicator.writers-1.0.17] startup +[4.823s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T05:19:27Z [4,745ms] [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. +2026-09-22T05:19:27Z [4,745ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T05:19:27Z [4,745ms] [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. +2026-09-22T05:19:27Z [4,746ms] [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. +2026-09-22T05:19:27Z [4,746ms] [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. +2026-09-22T05:19:27Z [4,746ms] [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. +2026-09-22T05:19:27Z [4,746ms] [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. +2026-09-22T05:19:27Z [4,747ms] [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. +2026-09-22T05:19:27Z [4,749ms] [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. +2026-09-22T05:19:27Z [4,749ms] [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. +2026-09-22T05:19:27Z [4,750ms] [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. +[4.831s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T05:19:27Z [4,752ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[4.834s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[4.843s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[4.845s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.848s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.850s] [ext: omni.ocio-0.1.1] startup +[4.853s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.864s] [ext: omni.kit.window.console-1.1.4] startup +[4.870s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.874s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T05:19:27Z [4,793ms] [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. +[4.875s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.879s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.885s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.892s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T05:19:27Z [4,812ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.893s] [ext: semantics.schema.editor-2.0.2] startup +[4.900s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.902s] [ext: semantics.schema.property-2.0.1] startup +[4.903s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T05:19:27Z [4,824ms] [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. +2026-09-22T05:19:27Z [4,824ms] [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. +2026-09-22T05:19:27Z [4,825ms] [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. +[4.906s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T05:19:27Z [4,827ms] [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. +2026-09-22T05:19:27Z [4,827ms] [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. +2026-09-22T05:19:27Z [4,828ms] [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. +2026-09-22T05:19:27Z [4,828ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.909s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.924s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.932s] [ext: omni.kit.menu.common-2.0.1] startup +[4.935s] [ext: isaacsim.exp.base-5.1.0] startup +[4.935s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.936s] Simulation App Starting +2026-09-22T05:19:27Z [5,070ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T05:19:27Z [5,105ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[5.227s] app ready +[8.476s] Simulation App Startup Complete +[8.878s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T05:19:31Z [8,952ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T05:19:32Z [9,931ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:14.989] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:15.396] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T05:20:40Z [77,400ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:20:42Z [80,021ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T05:20:43Z [80,321ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,321ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,578ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,616ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,616ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,616ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,616ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,649ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,685ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,685ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,686ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,686ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,686ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,686ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:43Z [80,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,511ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,511ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,539ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,539ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,558ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,558ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,562ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,563ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,580ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,580ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,587ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,587ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [81,752ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,201ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:44Z [82,201ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:20:45Z [82,291ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:20:45Z [82,291ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:28.646] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:28.704] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T05:20:54Z [92,248ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:38.179] [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. +[00:01:38.182] [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. +2026-09-22T05:20:55Z [93,164ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:20:55Z [93,166ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:20:55Z [93,167ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:20:55Z [93,168ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:20:59Z [96,354ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T05:21:06Z [103,713ms] [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 +2026-09-22T05:21:06Z [103,788ms] [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 +2026-09-22T05:21:13Z [111,160ms] [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 +2026-09-22T05:21:14Z [111,308ms] [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 +2026-09-22T05:22:16Z [173,401ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_115'} +RECOVERY progress 1080 release_into_grounded_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1800 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1920 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +2026-09-22T05:28:10Z [527,815ms] [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 +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-22T05:31:49Z [746,472ms] [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 3480 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3600 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3720 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3840 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3960 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4080 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T05:33:20Z [837,768ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:20Z [837,768ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:20Z [837,768ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[837.946s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..cc13791984693e9700f4dc4495e6171de2f9a45f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b351aad7c7397a69f3d745b8c6406d3f79e26fcf97f7a2edd7524caea414e104 +size 4145 diff --git 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"chunk_span": [ + 5721, + 6825 + ], + "reason": "Ordering row: at f5721 both hands are loaded (113 in left, 115 in right) with no trash can held. The robot subsequently opens the left gripper at f6812 and can 113 falls to the wooden floor at f6821 \u2014 the row wraps a plan divergence plus a regression of the earlier pick. Seed at row's first frame per the ordering rule; the drop event itself was not selected as it lies inside the failure and would restore a state with the can already released." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fdc8a44d3eafeb69e0301e8238b0cd199d730e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f005721/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019510-f005721", + "episode_id": "00019510", + "instance_id": 951, + "start_type": "judgement_seed", + "source_frame": 5721, + "attempt": "attempt_001", + "completed_at": "2026-09-22T05:36:39+00:00", + 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Seed at row's first frame per the ordering rule; the seed restores a state with can 113 already on the floor and one hand loaded, which no inspected demo exhibits." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b2a68b1dccbc123725dd20eeb976aac094800fa --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/events.jsonl @@ -0,0 +1,796 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5060431240999315, -0.5387184795159667, 0.0353628249036753], [0.5243297531087076, 0.4866954268158494, 0.4109427756720516]]} +{"step": 4915, "event": "joint_tracking", "max_error_rad": 0.008541986346244812} +{"step": 4915, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.099754810333252, 5.5162506103515625, 0.6379926204681396], "desired_xyz": [5.09972351061846, 5.516244177977012, 0.6380374573743751], "error_m": 5.5058112473603375e-05} +{"step": 4915, "event": "eef_target", "arm": "left", "body_xyz": [0.6412303522718703, 0.11999810933643801, 0.6372446850241547], "world_xyz": [5.072389990323718, 5.536697871101918, 0.6424246619908557], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4915, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4915, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5060431156831586, -0.5387187897651443, 0.03536298147004533], [0.524329713346588, 0.48669535823542576, 0.4109427103418317]]} +{"step": 4931, "event": "joint_tracking", "max_error_rad": 0.00843837857246399} +{"step": 4931, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.072421073913574, 5.5366997718811035, 0.6423823237419128], "desired_xyz": [5.072389990323718, 5.536697871101918, 0.6424246619908557], "error_m": 5.255787137416394e-05} +{"step": 4931, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 4022, "end": 4931} +{"step": 4931, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.072421073913574, 5.5366997718811035, 0.6423823237419128], [-0.07755319029092789, 0.7152175307273865, 0.048676613718271255, 0.6928781270980835]], "right": [[5.3270158767700195, 5.475543022155762, 0.48751387000083923], [-0.620339035987854, 0.7646378874778748, 0.1423172503709793, 0.10126321017742157]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.196056842803955, 5.5199408531188965, 0.3701833486557007], "can__of__soda.n.01_1": [5.238765239715576, 5.481313228607178, 0.27248743176460266], "can__of__soda.n.01_3": [5.25382137298584, 5.465630054473877, 0.3527146875858307], "ashcan.n.01_1": [5.226917266845703, 5.483596324920654, 0.36730635166168213]}, "robot_pose": [[4.78424596786499, 4.951306343078613, 0.005285307765007019], [-4.2635947465896606e-05, 6.904770998517051e-05, 0.44771021604537964, 0.8941786885261536]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..dcac9b35936e5db504253774f88706dfd1d358ba --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4809 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.635s] [ext: omni.physics.tensors-107.3.26] startup +[1.638s] [ext: omni.warp.core-1.8.2] startup +[1.746s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.748s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T10:00:19Z [1,740ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.753s] [ext: omni.physx.tensors-107.3.26] startup +[1.757s] [ext: isaacsim.core.utils-3.5.1] startup +[1.760s] [ext: omni.graph.image.core-0.6.1] startup +[1.762s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[1.837s] [ext: omni.graph.image.nodes-1.3.1] startup +[1.839s] [ext: omni.kit.stage_templates-2.0.0] startup +[1.840s] [ext: isaacsim.core.prims-0.6.1] startup +[1.854s] [ext: omni.syntheticdata-0.6.13] startup +[1.864s] [ext: isaacsim.core.api-4.8.0] startup +[1.876s] [ext: omni.videoencoding-0.1.2] startup +[1.878s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[1.879s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[1.882s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[1.883s] [ext: isaacsim.simulation_app-2.12.2] startup +[1.883s] [ext: omni.graph.ui_nodes-1.50.5] startup +[1.886s] [ext: omni.graph.nodes-1.170.10] startup +[1.894s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[1.896s] [ext: isaacsim.test.docstring-1.1.0] startup +[1.898s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T10:00:19Z [1,886ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[1.899s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[1.904s] [ext: omni.warp-1.8.2] startup +[1.908s] [ext: omni.kit.window.material_graph-1.9.1] startup +[1.926s] [ext: omni.graph.scriptnode-1.50.0] startup +[1.930s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[1.964s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[1.997s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T10:00:19Z [1,993ms] [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 +2026-09-22T10:00:19Z [2,091ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T10:00:19Z [2,091ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T10:00:19Z [2,091ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.106s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.108s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.112s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.121s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T10:00:19Z [2,111ms] [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. +[2.126s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.138s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.223s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.344s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.391s] [ext: isaacsim.robot.manipulators.examples-1.1.2] 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. +[2.407s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T10:00:19Z [2,398ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.416s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.417s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T10:00:19Z [2,408ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.422s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T10:00:19Z [2,412ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.425s] [ext: omni.anim.curve.core-1.3.1] startup +[2.449s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T10:00:19Z [2,438ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:00:19Z [2,438ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:00:19Z [2,453ms] [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. +[2.465s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.472s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T10:00:19Z [2,460ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.472s] [ext: omni.kit.selection-0.1.6] startup +[2.475s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.479s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T10:00:19Z [2,467ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,467ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,468ms] [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. +2026-09-22T10:00:19Z [2,470ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,470ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,470ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,471ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,471ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,471ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:00:19Z [2,471ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.484s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.498s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.503s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.508s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T10:00:19Z [2,497ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.510s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.518s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T10:00:19Z [2,507ms] [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. +2026-09-22T10:00:19Z [2,507ms] [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. +2026-09-22T10:00:19Z [2,507ms] [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. +2026-09-22T10:00:19Z [2,507ms] [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. +2026-09-22T10:00:19Z [2,507ms] [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. +2026-09-22T10:00:19Z [2,508ms] [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. +2026-09-22T10:00:19Z [2,509ms] [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. +2026-09-22T10:00:19Z [2,509ms] [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. +2026-09-22T10:00:19Z [2,509ms] [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. +2026-09-22T10:00:19Z [2,509ms] [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. +2026-09-22T10:00:19Z [2,509ms] [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. +2026-09-22T10:00:19Z [2,510ms] [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. +2026-09-22T10:00:19Z [2,510ms] [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. +2026-09-22T10:00:19Z [2,510ms] [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. +2026-09-22T10:00:19Z [2,510ms] [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. +2026-09-22T10:00:19Z [2,510ms] [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. +[2.523s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T10:00:19Z [2,511ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.525s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T10:00:19Z [2,514ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T10:00:19Z [2,515ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.528s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T10:00:19Z [2,516ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.529s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T10:00:19Z [2,518ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.534s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.537s] [ext: omni.isaac.utils-2.0.6] startup +[2.538s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.544s] [ext: isaacsim.app.about-2.0.11] startup +[2.546s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T10:00:19Z [2,534ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.547s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.547s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T10:00:19Z [2,536ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T10:00:19Z [2,537ms] [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. +2026-09-22T10:00:19Z [2,537ms] [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. +2026-09-22T10:00:19Z [2,537ms] [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. +2026-09-22T10:00:19Z [2,537ms] [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. +2026-09-22T10:00:19Z [2,538ms] [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. +2026-09-22T10:00:19Z [2,538ms] [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. +2026-09-22T10:00:19Z [2,538ms] [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. +2026-09-22T10:00:19Z [2,539ms] [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. +2026-09-22T10:00:19Z [2,539ms] [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. +2026-09-22T10:00:19Z [2,539ms] [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. +2026-09-22T10:00:19Z [2,540ms] [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. +[2.552s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T10:00:19Z [2,544ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T10:00:19Z [2,544ms] [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. +[2.557s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.562s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T10:00:19Z [2,550ms] [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. +[2.562s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.568s] [ext: omni.kit.property.audio-1.0.16] startup +[2.569s] [ext: omni.kit.property.camera-1.0.10] startup +[2.570s] [ext: omni.sensors.net-1.0.0] startup +[2.572s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.575s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.577s] [ext: omni.kit.property.light-1.0.12] startup +[2.610s] [ext: omni.kit.property.material-1.11.9] startup +[2.616s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.617s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.618s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.623s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.628s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.632s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.634s] [ext: omni.kit.property.render-1.2.1] startup +[2.635s] [ext: omni.kit.property.transform-1.5.13] startup +[2.638s] [ext: isaacsim.gui.property-1.1.3] startup +[2.640s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.645s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.650s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.657s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.660s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.662s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T10:00:20Z [2,651ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T10:00:20Z [2,651ms] [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. +[2.663s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T10:00:20Z [2,653ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T10:00:20Z [2,653ms] [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. +[2.666s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.679s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T10:00:20Z [2,668ms] [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. +2026-09-22T10:00:20Z [2,669ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,669ms] [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. +2026-09-22T10:00:20Z [2,670ms] [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. +2026-09-22T10:00:20Z [2,670ms] [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. +2026-09-22T10:00:20Z [2,670ms] [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. +[2.682s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T10:00:20Z [2,672ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.685s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.688s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.700s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.702s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.704s] [ext: omni.ocio-0.1.1] startup +[2.707s] [ext: omni.rtx.window.settings-0.6.19] startup +[2.712s] [ext: omni.kit.window.console-1.1.4] startup +[2.718s] [ext: omni.kit.window.status_bar-0.1.9] startup +[2.726s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T10:00:20Z [2,714ms] [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. +[2.727s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[2.733s] [ext: omni.rtx.settings.core-0.6.5] startup +[2.736s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[2.744s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T10:00:20Z [2,733ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[2.745s] [ext: semantics.schema.editor-2.0.2] startup +[2.750s] [ext: omni.kit.ui.actions-1.0.5] startup +[2.751s] [ext: semantics.schema.property-2.0.1] startup +[2.752s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T10:00:20Z [2,741ms] [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. +2026-09-22T10:00:20Z [2,741ms] [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. +2026-09-22T10:00:20Z [2,741ms] [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. +[2.754s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T10:00:20Z [2,743ms] [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. +2026-09-22T10:00:20Z [2,743ms] [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. +2026-09-22T10:00:20Z [2,743ms] [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. +2026-09-22T10:00:20Z [2,743ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[2.756s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[2.764s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[2.769s] [ext: omni.kit.menu.common-2.0.1] startup +[2.770s] [ext: isaacsim.exp.base-5.1.0] startup +[2.771s] [ext: omnigibson_5_1_0-3.9.2] startup +[2.772s] Simulation App Starting +2026-09-22T10:00:20Z [2,802ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T10:00:20Z [2,823ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[2.859s] app ready +[4.512s] Simulation App Startup Complete +[4.813s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T10:00:22Z [4,882ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T10:00:23Z [5,679ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.235] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:09.726] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T10:01:09Z [52,106ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:01:11Z [54,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,397ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,397ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,461ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,461ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,462ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,462ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,462ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,462ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,493ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,493ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,522ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,522ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,556ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,563ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:11Z [54,563ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,200ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,220ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,220ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,362ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,624ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,625ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,625ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:12Z [55,625ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,650ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,650ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,650ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,733ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:01:13Z [55,733ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:01:13Z [56,564ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:00.394] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:00.434] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T10:01:21Z [64,109ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:08.346] [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. +[00:01:08.348] [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. +2026-09-22T10:01:22Z [64,817ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:01:22Z [64,818ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:01:22Z [64,819ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:01:22Z [64,820ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:01:24Z [67,345ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T10:01:31Z [74,419ms] [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 +2026-09-22T10:01:39Z [82,250ms] [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 +2026-09-22T10:02:46Z [148,694ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1080 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1200 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1320 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1560 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-22T10:06:46Z [389,361ms] [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 +RECOVERY progress 1680 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-22T10:10:21Z [603,889ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T10:10:21Z [603,920ms] [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 2760 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2880 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3000 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3120 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3240 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3360 release_into_aligned_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 human_carry_pose_for_pick {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3600 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3720 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3840 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-22T10:13:55Z [818,314ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T10:13:55Z [818,347ms] [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 3960 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4080 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4200 orient_can_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4320 orient_can_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4440 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4560 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4680 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4800 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4920 retract_hand_after_release {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T10:15:49Z [932,404ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:15:49Z [932,404ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:15:49Z [932,404ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[932.509s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..a4199269d2347a305fd8298820b2db7a023dc723 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:996fd9f9cca67dfc7edf2708b39851ecc2d4b676ab1b3244ff0242c7114e50f9 +size 4937 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e63f805e64904805d233074cc1e895e9b39c20 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019510-f006826/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": 1.720688363721079e-05, + "max_supervised_command_overlap_m": 5.041733633193157e-06, + "flagged_supervised_steps": 0, + "flagged_frames": [], + "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785", + "review_required": false +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f548d3fa0f4c4966a84be2670066a8ab1d100d3e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2a9e9df5267822de6e605a096d54e61ce006cefce418d401b2979ae22fc0da7 +size 77630477 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7963f761c41a0b94da4b33e5e85f41a3c58fd86c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f006826/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22aac8f0bf7168866a2ab474e1ccfa6bd364abf2228a060d7cf6f6242bc85d30 +size 10004458 diff --git 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"chunk_span": [ + 6826, + 7495 + ], + "reason": "Ordering row: at f6826 the left gripper is empty (released 113 fourteen frames earlier), right still holds 115, and the robot moves to and grasps can 114 in the left hand at f7488. 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6.941652827663347e-05, 0.43307173252105713, 0.901359498500824]]}} +{"step": 4309, "event": "eef_target", "arm": "left", "body_xyz": [0.6779663059606494, 0.04363467949399602, 0.6270929312972346], "world_xyz": [5.133621755369144, 5.457199678297399, 0.6322688488125625], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4309, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4309, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5077663462456821, -0.5374459351422309, 0.035363038992628625], [0.529745388953326, 0.4970745382004702, 0.4109433325210004]]} +{"step": 4328, "event": "joint_tracking", "max_error_rad": 0.004165664315223694} +{"step": 4328, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.1336565017700195, 5.457213878631592, 0.6322188377380371], "desired_xyz": [5.133621755369144, 5.457199678297399, 0.6322688488125625], "error_m": 6.253054805603503e-05} +{"step": 4328, "event": "eef_target", "arm": "left", "body_xyz": [0.6779656873571833, 0.08181699024234018, 0.6328850107089826], "world_xyz": [5.103812819972907, 5.481060714474437, 0.6380600388764989], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4328, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4328, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.507766123076589, -0.537445907040984, 0.035362943287886965], [0.5297454113447323, 0.4970745530830463, 0.4109435232222337]]} +{"step": 4347, "event": "joint_tracking", "max_error_rad": 0.00406232476234436} +{"step": 4347, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.103846073150635, 5.481071949005127, 0.6380133032798767], "desired_xyz": [5.103812819972907, 5.481060714474437, 0.6380600388764989], "error_m": 5.844830622394091e-05} +{"step": 4347, "event": "eef_target", "arm": "left", "body_xyz": [0.677965407434221, 0.12000015931249336, 0.6386766413227403], "world_xyz": [5.07400388457667, 5.504921750651475, 0.6438512289404352], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4347, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4347, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.507766098477902, -0.5374458169790715, 0.03536294089950865], [0.5297454134750147, 0.49707456085606255, 0.4109434921661687]]} +{"step": 4366, "event": "joint_tracking", "max_error_rad": 0.004006609320640564} +{"step": 4366, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.074034214019775, 5.50493049621582, 0.6438069939613342], "desired_xyz": [5.07400388457667, 5.504921750651475, 0.6438512289404352], "error_m": 5.434237196585006e-05} +{"step": 4366, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 3476, "end": 4366} +{"step": 4366, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.074034214019775, 5.50493049621582, 0.6438069939613342], [-0.07516247034072876, 0.7165749073028564, 0.057857539504766464, 0.6910308003425598]], "right": [[5.263300895690918, 5.325683116912842, 0.4942516088485718], [-0.47354376316070557, 0.8648107647895813, 0.013461957685649395, 0.1663651317358017]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.172348976135254, 5.455533027648926, 0.4176637530326843], "can__of__soda.n.01_1": [5.226822376251221, 5.4033098220825195, 0.37611329555511475], "can__of__soda.n.01_2": [5.147763252258301, 5.380935192108154, 0.31225982308387756], "ashcan.n.01_1": [5.175377368927002, 5.397708415985107, 0.3745128810405731]}, "robot_pose": [[4.743971824645996, 4.9005560874938965, 0.005285441875457764], [-4.133395850658417e-05, 6.941839819774032e-05, 0.4330715239048004, 0.9013596177101135]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f007496/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f007496/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..17c3dcec73a5a0559aed311478ba4725b54e0ad8 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f007496/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4250 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.284s] [ext: omni.physics.tensors-107.3.26] startup +[2.289s] [ext: omni.warp.core-1.8.2] startup +[2.407s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.409s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T12:53:24Z [2,396ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.415s] [ext: omni.physx.tensors-107.3.26] startup +[2.420s] [ext: isaacsim.core.utils-3.5.1] startup +[2.423s] [ext: omni.graph.image.core-0.6.1] startup +[2.425s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.504s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.505s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.507s] [ext: isaacsim.core.prims-0.6.1] startup +[2.523s] [ext: omni.syntheticdata-0.6.13] startup +[2.536s] [ext: isaacsim.core.api-4.8.0] startup +[2.554s] [ext: omni.videoencoding-0.1.2] startup +[2.558s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.559s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.561s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.562s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.563s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.567s] [ext: omni.graph.nodes-1.170.10] startup +[2.577s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.581s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.585s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T12:53:25Z [2,568ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.586s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.595s] [ext: omni.warp-1.8.2] startup +[2.601s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.619s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.621s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.656s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.730s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T12:53:25Z [2,724ms] [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 +2026-09-22T12:53:25Z [2,797ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T12:53:25Z [2,797ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T12:53:25Z [2,798ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.818s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.821s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.830s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.847s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T12:53:25Z [2,832ms] [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. +[2.851s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.855s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.889s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.904s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.909s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.919s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T12:53:25Z [2,904ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.946s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.949s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T12:53:25Z [2,940ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.984s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T12:53:25Z [2,995ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.013s] [ext: omni.anim.curve.core-1.3.1] startup +[3.107s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T12:53:25Z [3,091ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T12:53:25Z [3,096ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T12:53:25Z [3,155ms] [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. +[3.179s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.245s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T12:53:25Z [3,237ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.266s] [ext: omni.kit.selection-0.1.6] startup +[3.272s] [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. +[3.321s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T12:53:25Z [3,305ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,306ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,306ms] [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. +2026-09-22T12:53:25Z [3,308ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,308ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,308ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,309ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,309ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,309ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:53:25Z [3,309ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.328s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.350s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.359s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.367s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T12:53:25Z [3,350ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.369s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.387s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T12:53:25Z [3,371ms] [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. +2026-09-22T12:53:25Z [3,372ms] [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. +2026-09-22T12:53:25Z [3,374ms] [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. +2026-09-22T12:53:25Z [3,377ms] [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. +2026-09-22T12:53:25Z [3,378ms] [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. +2026-09-22T12:53:25Z [3,378ms] [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. +2026-09-22T12:53:25Z [3,379ms] [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. +2026-09-22T12:53:25Z [3,379ms] [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. +2026-09-22T12:53:25Z [3,380ms] [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. +2026-09-22T12:53:25Z [3,380ms] [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. +2026-09-22T12:53:25Z [3,380ms] [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. +2026-09-22T12:53:25Z [3,380ms] [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. +2026-09-22T12:53:25Z [3,382ms] [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. +2026-09-22T12:53:25Z [3,382ms] [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. +2026-09-22T12:53:25Z [3,382ms] [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. +2026-09-22T12:53:25Z [3,382ms] [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. +[3.401s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T12:53:25Z [3,383ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.404s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T12:53:25Z [3,387ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T12:53:25Z [3,388ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.407s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T12:53:25Z [3,390ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.409s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T12:53:25Z [3,393ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.411s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.419s] [ext: omni.isaac.utils-2.0.6] startup +[3.421s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.438s] [ext: isaacsim.app.about-2.0.11] startup +[3.445s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T12:53:26Z [3,428ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.447s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.448s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T12:53:26Z [3,432ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T12:53:26Z [3,432ms] [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. +2026-09-22T12:53:26Z [3,433ms] [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. +2026-09-22T12:53:26Z [3,433ms] [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. +2026-09-22T12:53:26Z [3,433ms] [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. +2026-09-22T12:53:26Z [3,433ms] [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. +2026-09-22T12:53:26Z [3,434ms] [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. +2026-09-22T12:53:26Z [3,434ms] [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. +2026-09-22T12:53:26Z [3,434ms] [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. +2026-09-22T12:53:26Z [3,436ms] [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. +2026-09-22T12:53:26Z [3,436ms] [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. +2026-09-22T12:53:26Z [3,437ms] [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. +[3.456s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T12:53:26Z [3,448ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T12:53:26Z [3,450ms] [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. +[3.469s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.481s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T12:53:26Z [3,463ms] [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. +[3.482s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.493s] [ext: omni.kit.property.audio-1.0.16] startup +[3.496s] [ext: omni.kit.property.camera-1.0.10] startup +[3.499s] [ext: omni.sensors.net-1.0.0] startup +[3.502s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.506s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.508s] [ext: omni.kit.property.light-1.0.12] startup +[3.549s] [ext: omni.kit.property.material-1.11.9] startup +[3.553s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.555s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.557s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.561s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.567s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.571s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.574s] [ext: omni.kit.property.render-1.2.1] startup +[3.575s] [ext: omni.kit.property.transform-1.5.13] startup +[3.577s] [ext: isaacsim.gui.property-1.1.3] startup +[3.579s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.584s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.589s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.595s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.599s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.601s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T12:53:26Z [3,584ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T12:53:26Z [3,584ms] [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. +[3.602s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T12:53:26Z [3,584ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T12:53:26Z [3,585ms] [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. +[3.605s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.617s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T12:53:26Z [3,600ms] [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. +2026-09-22T12:53:26Z [3,600ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,601ms] [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. +2026-09-22T12:53:26Z [3,602ms] [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. +2026-09-22T12:53:26Z [3,602ms] [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. +2026-09-22T12:53:26Z [3,602ms] [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. +[3.620s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T12:53:26Z [3,605ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.625s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.635s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.637s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.638s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.640s] [ext: omni.ocio-0.1.1] startup +[3.642s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.647s] [ext: omni.kit.window.console-1.1.4] startup +[3.653s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.658s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T12:53:26Z [3,641ms] [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. +[3.660s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.669s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.674s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.688s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T12:53:26Z [3,671ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.689s] [ext: semantics.schema.editor-2.0.2] startup +[3.696s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.697s] [ext: semantics.schema.property-2.0.1] startup +[3.699s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T12:53:26Z [3,682ms] [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. +2026-09-22T12:53:26Z [3,682ms] [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. +2026-09-22T12:53:26Z [3,683ms] [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. +[3.701s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T12:53:26Z [3,686ms] [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. +2026-09-22T12:53:26Z [3,686ms] [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. +2026-09-22T12:53:26Z [3,686ms] [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. +2026-09-22T12:53:26Z [3,686ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.705s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.718s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.727s] [ext: omni.kit.menu.common-2.0.1] startup +[3.730s] [ext: isaacsim.exp.base-5.1.0] startup +[3.731s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.733s] Simulation App Starting +2026-09-22T12:53:26Z [3,768ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T12:53:26Z [3,806ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +2026-09-22T12:53:26Z [3,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-09-22T12:53:26Z [3,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-09-22T12:53:26Z [3,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +[3.862s] app ready +[6.356s] Simulation App Startup Complete +[6.677s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T12:53:29Z [6,846ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T12:53:30Z [7,829ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.575] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.878] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T12:54:39Z [76,537ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:54:41Z [79,233ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,233ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:41Z [79,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,428ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,428ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,489ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,489ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,489ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,489ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,584ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,584ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,596ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:42Z [79,597ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,497ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,497ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,521ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,521ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,529ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,529ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,691ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,691ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,691ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,691ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [80,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:54:43Z [81,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:54:44Z [82,065ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:28.221] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:28.314] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T12:54:55Z [92,811ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:40.500] [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. +[00:01:40.502] [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. +2026-09-22T12:54:59Z [96,784ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:54:59Z [96,785ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:54:59Z [96,786ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:54:59Z [96,787ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:55:02Z [99,844ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T12:55:11Z [108,743ms] [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 +2026-09-22T12:55:11Z [108,899ms] [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 +2026-09-22T12:55:20Z [118,076ms] [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 +2026-09-22T12:55:20Z [118,147ms] [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 +2026-09-22T12:56:28Z [186,301ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_115'} +RECOVERY progress 1080 release_into_grounded_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'can_of_soda_115'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 1680 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 1800 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 1920 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +2026-09-22T13:02:24Z [541,520ms] [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 +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T13:06:00Z [757,958ms] [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 3480 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 3600 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 3720 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 3840 orient_can_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 3960 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4080 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4200 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4320 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T13:07:51Z [868,805ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:07:51Z [868,805ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:07:51Z [868,805ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[868.909s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f007496/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019510-f007496/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..e8454d35ed6c2ee9436545369ea3adb1ad1548d9 --- /dev/null +++ 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"retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[2.7328808307647705, 4.1895012855529785, 0.6256232261657715], [-0.8880541324615479, 0.45942291617393494, -0.009690175764262676, 0.01402002852410078]], "right": [[2.813513994216919, 4.290149688720703, 0.4418522119522095], [-0.9513531923294067, 0.29813680052757263, 0.056735437363386154, -0.05313035473227501]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [2.767439842224121, 4.1662068367004395, 0.4333679676055908], "can__of__soda.n.01_2": [2.756575345993042, 4.205707550048828, 0.24305427074432373], "can__of__soda.n.01_3": [2.7073776721954346, 4.212337970733643, 0.33438077569007874], "ashcan.n.01_1": [2.7504732608795166, 4.2040252685546875, 0.33835363388061523]}, "robot_pose": [[3.0283679962158203, 3.686161518096924, 0.005285277962684631], [-7.415562868118286e-05, 3.2760235626483336e-05, 0.876922070980072, 0.4806326925754547]]}} +{"step": 2235, "event": "eef_target", "arm": "left", "body_xyz": [0.5831599312287672, 0.013713561242691241, 0.6204318648197535], "world_xyz": [2.703015944834131, 4.170441134111641, 0.625622736295469], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2235, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2235, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.043907293977310025, "held_worst_rejected_m": null, "base_box_body": [[-0.5113224834038554, -0.47898386057483167, 0.0353604100561162], [0.5106023523635717, 0.5382015165076669, 0.4109436472584606]]} +{"step": 2251, "event": "joint_tracking", "max_error_rad": 0.0057088714092969894} +{"step": 2251, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.703019380569458, 4.1704630851745605, 0.6255944967269897], "desired_xyz": [2.703015944834131, 4.170441134111641, 0.625622736295469], "error_m": 3.593225109039838e-05} +{"step": 2251, "event": "eef_target", "arm": "left", "body_xyz": [0.5831578035444799, 0.04914138304694432, 0.6204313243136734], "world_xyz": [2.6731510589034917, 4.151380982670303, 0.6256222464251665], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2251, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2251, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.044843894049930444, "held_worst_rejected_m": null, "base_box_body": [[-0.5113222665910664, -0.478983693114844, 0.03536057341259327], [0.5106023700808561, 0.5382010834498775, 0.41094314095281964]]} +{"step": 2267, "event": "joint_tracking", "max_error_rad": 0.0056095123291015625} +{"step": 2267, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.673154354095459, 4.151400089263916, 0.625594973564148], "desired_xyz": [2.6731510589034917, 4.151380982670303, 0.6256222464251665], "error_m": 3.346235433636753e-05} +{"step": 2267, "event": "eef_target", "arm": "left", "body_xyz": [0.583156106115768, 0.08456738111771828, 0.6204318512578118], "world_xyz": [2.643286172972852, 4.132320831228965, 0.6256217565548641], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2267, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2267, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.04574082410912411, "held_worst_rejected_m": null, "base_box_body": [[-0.51132264620881, -0.47898413533568907, 0.035360371753020974], [0.5106024603466979, 0.5382013544188086, 0.41094362100406917]]} +{"step": 2283, "event": "joint_tracking", "max_error_rad": 0.005634397268295288} +{"step": 2283, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.6432909965515137, 4.132339000701904, 0.6255967617034912], "desired_xyz": [2.643286172972852, 4.132320831228965, 0.6256217565548641], "error_m": 3.12752178754794e-05} +{"step": 2283, "event": "eef_target", "arm": "left", "body_xyz": [0.5831553289005991, 0.11999495673052454, 0.6204320755422875], "world_xyz": [2.6134212870422124, 4.113260679787627, 0.6256212666845616], "held": {"left": null, "right": "trash_can_116"}} +{"step": 2283, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2283, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.04661575689339115, "held_worst_rejected_m": null, "base_box_body": [[-0.5113225351560651, -0.478984151093113, 0.03536020951591676], [0.510602769228111, 0.5382015867216509, 0.4109438057410893]]} +{"step": 2299, "event": "joint_tracking", "max_error_rad": 0.005630791187286377} +{"step": 2299, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.6134276390075684, 4.113277435302734, 0.6255984306335449], "desired_xyz": [2.6134212870422124, 4.113260679787627, 0.6256212666845616], "error_m": 2.9027228190437122e-05} +{"step": 2299, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 1553, "end": 2299} +{"step": 2299, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_2": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[2.6134276390075684, 4.113277435302734, 0.6255984306335449], [-0.8880819082260132, 0.45937299728393555, -0.009664182551205158, 0.013914591632783413]], "right": [[2.8175666332244873, 4.292405128479004, 0.44081056118011475], [-0.95723557472229, 0.2813447117805481, 0.050846073776483536, -0.044271070510149]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [2.7760238647460938, 4.167070388793945, 0.4296645522117615], "can__of__soda.n.01_2": [2.7666289806365967, 4.209251880645752, 0.2398526519536972], "can__of__soda.n.01_3": [2.715855836868286, 4.212679386138916, 0.33049291372299194], "ashcan.n.01_1": [2.7591612339019775, 4.205813407897949, 0.335008442401886]}, "robot_pose": [[3.0283620357513428, 3.6861631870269775, 0.005285277962684631], [-7.424503564834595e-05, 3.288597145001404e-05, 0.8769224882125854, 0.4806319773197174]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..fd085385ea25930d96f00fe3c7d6b4b0ccd04f1a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2178 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.976s] [ext: omni.physics.tensors-107.3.26] startup +[2.979s] [ext: omni.warp.core-1.8.2] startup +[3.098s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.100s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:49:24Z [2,262ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.114s] [ext: omni.physx.tensors-107.3.26] startup +[3.120s] [ext: isaacsim.core.utils-3.5.1] startup +[3.123s] [ext: omni.graph.image.core-0.6.1] startup +[3.125s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.200s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.202s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.203s] [ext: isaacsim.core.prims-0.6.1] startup +[3.219s] [ext: omni.syntheticdata-0.6.13] startup +[3.229s] [ext: isaacsim.core.api-4.8.0] startup +[3.241s] [ext: omni.videoencoding-0.1.2] startup +[3.244s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.245s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.248s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.249s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.249s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.252s] [ext: omni.graph.nodes-1.170.10] startup +[3.262s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.264s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.266s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:49:24Z [2,415ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.267s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.276s] [ext: omni.warp-1.8.2] startup +[3.279s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.289s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.293s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.343s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.383s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:49:24Z [2,550ms] [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 +2026-09-20T10:49:24Z [2,640ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:49:24Z [2,640ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:49:24Z [2,641ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.495s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.499s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.507s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.523s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:49:24Z [2,673ms] [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. +[3.527s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.550s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.660s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.678s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.714s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.727s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:49:24Z [2,880ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.738s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.744s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:49:25Z [2,914ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.771s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:49:25Z [2,932ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.784s] [ext: omni.anim.curve.core-1.3.1] startup +[3.905s] [ext: omni.isaac.franka-1.0.7] 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. +2026-09-20T10:49:25Z [3,059ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:49:25Z [3,065ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:49:25Z [3,078ms] [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. +[3.933s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.945s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:49:25Z [3,097ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.949s] [ext: omni.kit.selection-0.1.6] startup +[3.952s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.959s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:49:25Z [3,108ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,108ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,109ms] [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. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,113ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:49:25Z [3,114ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.966s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.982s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.997s] [ext: isaacsim.asset.browser-1.3.23] startup +[4.005s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:49:25Z [3,156ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[4.008s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[4.018s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:49:25Z [3,169ms] [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. +2026-09-20T10:49:25Z [3,170ms] [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. +2026-09-20T10:49:25Z [3,170ms] [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. +2026-09-20T10:49:25Z [3,171ms] [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. +2026-09-20T10:49:25Z [3,171ms] [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. +2026-09-20T10:49:25Z [3,171ms] [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. +2026-09-20T10:49:25Z [3,172ms] [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. +2026-09-20T10:49:25Z [3,172ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,173ms] [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. +2026-09-20T10:49:25Z [3,174ms] [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. +[4.028s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:49:25Z [3,181ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.033s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:49:25Z [3,184ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:49:25Z [3,185ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[4.038s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:49:25Z [3,186ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[4.039s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:49:25Z [3,188ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.042s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[4.051s] [ext: omni.isaac.utils-2.0.6] startup +[4.053s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[4.071s] [ext: isaacsim.app.about-2.0.11] startup +[4.074s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:49:25Z [3,223ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[4.076s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[4.078s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:49:25Z [3,228ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:49:25Z [3,228ms] [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. +2026-09-20T10:49:25Z [3,229ms] [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. +2026-09-20T10:49:25Z [3,230ms] [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. +2026-09-20T10:49:25Z [3,230ms] [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. +2026-09-20T10:49:25Z [3,231ms] [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. +2026-09-20T10:49:25Z [3,231ms] [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. +2026-09-20T10:49:25Z [3,231ms] [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. +2026-09-20T10:49:25Z [3,232ms] [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. +2026-09-20T10:49:25Z [3,233ms] [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. +2026-09-20T10:49:25Z [3,233ms] [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. +2026-09-20T10:49:25Z [3,235ms] [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. +[4.088s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:49:25Z [3,248ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:49:25Z [3,248ms] [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. +[4.101s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[4.109s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:49:25Z [3,258ms] [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. +[4.110s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.126s] [ext: omni.kit.property.audio-1.0.16] startup +[4.127s] [ext: omni.kit.property.camera-1.0.10] startup +[4.129s] [ext: omni.sensors.net-1.0.0] startup +[4.131s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.135s] [ext: omni.kit.property.geometry-2.0.4] startup +[4.137s] [ext: omni.kit.property.light-1.0.12] startup +[4.184s] [ext: omni.kit.property.material-1.11.9] startup +[4.188s] [ext: omni.sensors.nv.ids-2.0.0] startup +[4.189s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[4.191s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[4.196s] [ext: omni.hydra.scene_api-0.1.2] startup +[4.203s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.207s] [ext: omni.sensors.nv.radar-3.0.0] startup +[4.210s] [ext: omni.kit.property.render-1.2.1] startup +[4.211s] [ext: omni.kit.property.transform-1.5.13] startup +[4.214s] [ext: isaacsim.gui.property-1.1.3] startup +[4.215s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.221s] [ext: isaacsim.sensors.camera-1.3.6] startup +[4.226s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[4.234s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.238s] [ext: omni.kit.property.bundle-1.4.1] startup +[4.243s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:49:25Z [3,392ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:49:25Z [3,392ms] [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. +[4.244s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:49:25Z [3,393ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:49:25Z [3,393ms] [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. +[4.245s] [ext: isaacsim.replicator.writers-1.0.17] startup +[4.257s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:49:25Z [3,407ms] [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. +2026-09-20T10:49:25Z [3,407ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:49:25Z [3,407ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,408ms] [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. +2026-09-20T10:49:25Z [3,409ms] [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. +2026-09-20T10:49:25Z [3,410ms] [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. +[4.262s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:49:25Z [3,412ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[4.267s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[4.275s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[4.278s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.279s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.281s] [ext: omni.ocio-0.1.1] startup +[4.284s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.288s] [ext: omni.kit.window.console-1.1.4] startup +[4.294s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.300s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:49:25Z [3,449ms] [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. +[4.301s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.312s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.316s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.323s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:49:25Z [3,472ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.324s] [ext: semantics.schema.editor-2.0.2] startup +[4.329s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.330s] [ext: semantics.schema.property-2.0.1] startup +[4.331s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:49:25Z [3,480ms] [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. +2026-09-20T10:49:25Z [3,480ms] [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. +2026-09-20T10:49:25Z [3,480ms] [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. +[4.332s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:49:25Z [3,482ms] [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. +2026-09-20T10:49:25Z [3,482ms] [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. +2026-09-20T10:49:25Z [3,482ms] [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. +2026-09-20T10:49:25Z [3,482ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.334s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.343s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.348s] [ext: omni.kit.menu.common-2.0.1] startup +[4.350s] [ext: isaacsim.exp.base-5.1.0] startup +[4.351s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.352s] Simulation App Starting +2026-09-20T10:49:25Z [3,570ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T10:49:25Z [3,592ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.472s] app ready +[6.752s] Simulation App Startup Complete +[7.099s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:49:28Z [6,373ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:49:29Z [7,350ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:13.204] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:13.539] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:50:27Z [65,892ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:50:30Z [68,156ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T10:50:30Z [68,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,432ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,557ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,640ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,640ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,641ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,641ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,641ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,641ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,710ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,710ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,746ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,746ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,746ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,746ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,753ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:30Z [68,753ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,479ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,480ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,480ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,480ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,537ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,537ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,543ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,556ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,556ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,561ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,562ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,727ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,727ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,728ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:31Z [69,728ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,178ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:50:32Z [70,178ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:19.249] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:19.344] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:50:43Z [81,186ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:30.905] [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. +[00:01:30.907] [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. +2026-09-20T10:50:47Z [85,090ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:50:47Z [85,092ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:50:47Z [85,093ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:50:47Z [85,094ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:50:49Z [87,887ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:50:55Z [93,406ms] [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 +2026-09-20T10:51:01Z [98,975ms] [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 +2026-09-20T10:53:01Z [219,365ms] [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 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 transport_posture {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-20T10:58:59Z [577,807ms] [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 1560 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1680 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1800 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1920 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2040 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2160 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2280 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 +2026-09-20T11:00:40Z [678,900ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:00:40Z [678,900ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:00:40Z [678,900ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[679.849s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..3bfcd70ca158a33ca02559b163ff93714ce34724 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:deba728431710bdbffc63acd06c4490c75431e2a615fa3c22b8c61420247f504 +size 2306 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..e532d367b82f6a8a3b4dae17bbe722173081f1a0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019520-f004101/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 +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..76869d811c3dd8f1863811eb8f3970857f6022bf --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af3132ffd7c1b34275aa78d1d954867fa41436cd5365c03953854350c1fdff58 +size 36543611 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..969e95dd8c43ef3666c1b594bdc390dacbac25b0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004101/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8c95d6ece6aab7bb760310693a83f1f7defac6194f205ae99781f099c2aedf8 +size 4764124 diff --git 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"chunk_span": [ + 4101, + 4900 + ], + "reason": "Ordering failure: robot placed trash_can back on floor (OnTop(trash_can, floor)=True at f4894) before touching can_115, ending phase B one can short. 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"can__of__soda.n.01_2": [4.495555400848389, 6.688833713531494, 0.20219534635543823], "ashcan.n.01_1": [4.488678455352783, 6.690005779266357, 0.2971395254135132]}, "robot_pose": [[4.129261016845703, 6.221919059753418, 0.0052852630615234375], [-5.2702613174915314e-05, 6.123261846369132e-05, 0.5815797448158264, 0.813489556312561]]}} +{"step": 626, "event": "approach_candidates", "key": "pick:can_of_soda_115", "target": [2.409005641937256, 4.153982162475586], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 626, "event": "primitive_failure", "operation": "pick:can_of_soda_115", "reason": "no_traversable_route", "attempt": 3} +{"step": 626, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_115"} +{"step": 626, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_1": false, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.048635482788086, 6.572285175323486, 0.6735615134239197], [-0.620323896408081, 0.7718212604522705, 0.04247647151350975, 0.13298846781253815]], "right": [[4.593489170074463, 6.657400608062744, 0.4089525043964386], [-0.5278125405311584, 0.8286365866661072, 0.15453357994556427, 0.10437756776809692]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [2.409005641937256, 4.153982162475586, 0.07145719230175018], "can__of__soda.n.01_3": [4.454905033111572, 6.669634819030762, 0.2939918637275696], "can__of__soda.n.01_2": [4.495555400848389, 6.688833713531494, 0.20219534635543823], "ashcan.n.01_1": [4.488678455352783, 6.690005779266357, 0.2971395254135132]}, "robot_pose": [[4.129261016845703, 6.221919059753418, 0.0052852630615234375], [-5.2702613174915314e-05, 6.123261846369132e-05, 0.5815797448158264, 0.813489556312561]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..ceaeafccbd8b9944fb620d150e4b3ad2187043c4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/634 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.521s] [ext: omni.physics.tensors-107.3.26] startup +[2.524s] [ext: omni.warp.core-1.8.2] startup +[2.631s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.633s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:27:35Z [2,568ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.639s] [ext: omni.physx.tensors-107.3.26] startup +[2.644s] [ext: isaacsim.core.utils-3.5.1] startup +[2.647s] [ext: omni.graph.image.core-0.6.1] startup +[2.649s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.723s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.724s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.726s] [ext: isaacsim.core.prims-0.6.1] startup +[2.740s] [ext: omni.syntheticdata-0.6.13] startup +[2.751s] [ext: isaacsim.core.api-4.8.0] startup +[2.766s] [ext: omni.videoencoding-0.1.2] startup +[2.769s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.770s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.773s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.774s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.774s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.779s] [ext: omni.graph.nodes-1.170.10] startup +[2.788s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.790s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.793s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:27:35Z [2,723ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.793s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.803s] [ext: omni.warp-1.8.2] startup +[2.807s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.822s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.827s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.849s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.881s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:27:35Z [2,835ms] [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 +2026-09-21T15:27:35Z [2,924ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:27:35Z [2,924ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:27:35Z [2,924ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.997s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.000s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.004s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.015s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:27:35Z [2,947ms] [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. +[3.019s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.028s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.090s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.143s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.171s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.187s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:27:35Z [3,125ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.223s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.231s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:27:35Z [3,173ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.249s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:27:35Z [3,187ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.259s] [ext: omni.anim.curve.core-1.3.1] startup +[3.392s] [ext: omni.isaac.franka-1.0.7] 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. +2026-09-21T15:27:35Z [3,335ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:27:35Z [3,335ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:27:35Z [3,369ms] [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. +[3.440s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.454s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:27:35Z [3,385ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.456s] [ext: omni.kit.selection-0.1.6] startup +[3.459s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.470s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:27:35Z [3,402ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,402ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,402ms] [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. +2026-09-21T15:27:35Z [3,405ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,406ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,406ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,406ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,406ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,407ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:27:35Z [3,407ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.478s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.495s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.509s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.516s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:27:35Z [3,449ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.521s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.524s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:27:35Z [3,456ms] [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. +2026-09-21T15:27:35Z [3,456ms] [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. +2026-09-21T15:27:35Z [3,456ms] [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. +2026-09-21T15:27:35Z [3,457ms] [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. +2026-09-21T15:27:35Z [3,457ms] [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. +2026-09-21T15:27:35Z [3,459ms] [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. +2026-09-21T15:27:35Z [3,462ms] [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. +2026-09-21T15:27:35Z [3,462ms] [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. +2026-09-21T15:27:35Z [3,462ms] [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. +2026-09-21T15:27:35Z [3,463ms] [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. +2026-09-21T15:27:35Z [3,463ms] [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. +2026-09-21T15:27:35Z [3,464ms] [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. +2026-09-21T15:27:35Z [3,464ms] [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. +2026-09-21T15:27:35Z [3,464ms] [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. +2026-09-21T15:27:35Z [3,465ms] [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. +2026-09-21T15:27:35Z [3,465ms] [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. +[3.536s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:27:35Z [3,467ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.539s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:27:35Z [3,472ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:27:35Z [3,472ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.543s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:27:35Z [3,473ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.544s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:27:35Z [3,475ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.547s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.557s] [ext: omni.isaac.utils-2.0.6] startup +[3.560s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.572s] [ext: isaacsim.app.about-2.0.11] startup +[3.575s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:27:35Z [3,506ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.577s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.578s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:27:35Z [3,509ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:27:35Z [3,510ms] [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. +2026-09-21T15:27:35Z [3,510ms] [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. +2026-09-21T15:27:35Z [3,512ms] [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. +2026-09-21T15:27:35Z [3,512ms] [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. +2026-09-21T15:27:35Z [3,515ms] [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. +2026-09-21T15:27:35Z [3,515ms] [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. +2026-09-21T15:27:35Z [3,515ms] [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. +2026-09-21T15:27:35Z [3,516ms] [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. +2026-09-21T15:27:35Z [3,516ms] [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. +2026-09-21T15:27:35Z [3,516ms] [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. +2026-09-21T15:27:35Z [3,516ms] [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. +[3.587s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:27:35Z [3,520ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:27:35Z [3,520ms] [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. +[3.591s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.596s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:27:35Z [3,526ms] [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. +[3.597s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.606s] [ext: omni.kit.property.audio-1.0.16] startup +[3.607s] [ext: omni.kit.property.camera-1.0.10] startup +[3.608s] [ext: omni.sensors.net-1.0.0] startup +[3.611s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.615s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.618s] [ext: omni.kit.property.light-1.0.12] startup +[3.659s] [ext: omni.kit.property.material-1.11.9] startup +[3.664s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.666s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.669s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.676s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.682s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.686s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.690s] [ext: omni.kit.property.render-1.2.1] startup +[3.691s] [ext: omni.kit.property.transform-1.5.13] startup +[3.694s] [ext: isaacsim.gui.property-1.1.3] startup +[3.696s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.701s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.705s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.713s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.717s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.721s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:27:36Z [3,652ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:27:36Z [3,652ms] [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. +[3.723s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:27:36Z [3,653ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:27:36Z [3,653ms] [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. +[3.724s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.735s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:27:36Z [3,666ms] [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. +2026-09-21T15:27:36Z [3,666ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:27:36Z [3,666ms] [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. +2026-09-21T15:27:36Z [3,667ms] [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. +2026-09-21T15:27:36Z [3,667ms] [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. +2026-09-21T15:27:36Z [3,668ms] [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. +2026-09-21T15:27:36Z [3,668ms] [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. +2026-09-21T15:27:36Z [3,668ms] [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. +2026-09-21T15:27:36Z [3,669ms] [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. +2026-09-21T15:27:36Z [3,670ms] [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. +2026-09-21T15:27:36Z [3,670ms] [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. +[3.741s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:27:36Z [3,672ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.744s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.751s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.753s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.755s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.757s] [ext: omni.ocio-0.1.1] startup +[3.760s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.771s] [ext: omni.kit.window.console-1.1.4] startup +[3.775s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.779s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:27:36Z [3,709ms] [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. +[3.779s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.783s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.787s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.794s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:27:36Z [3,725ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.795s] [ext: semantics.schema.editor-2.0.2] startup +[3.799s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.800s] [ext: semantics.schema.property-2.0.1] startup +[3.801s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:27:36Z [3,731ms] [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. +2026-09-21T15:27:36Z [3,731ms] [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. +2026-09-21T15:27:36Z [3,732ms] [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. +[3.802s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:27:36Z [3,733ms] [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. +2026-09-21T15:27:36Z [3,733ms] [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. +2026-09-21T15:27:36Z [3,734ms] [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. +2026-09-21T15:27:36Z [3,734ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.804s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.812s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.818s] [ext: omni.kit.menu.common-2.0.1] startup +[3.820s] [ext: isaacsim.exp.base-5.1.0] startup +[3.820s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.822s] Simulation App Starting +2026-09-21T15:27:36Z [4,174ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.280s] app ready +[6.850s] Simulation App Startup Complete +[7.212s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:27:39Z [7,294ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:27:40Z [8,181ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.590] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.797] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:28:47Z [75,091ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:28:53Z [80,742ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,743ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,743ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,743ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,900ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,900ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [80,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,003ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,003ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,005ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,053ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,053ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:53Z [81,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,083ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,083ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,113ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,113ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,444ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,444ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,445ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:54Z [82,445ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,806ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,806ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:28:55Z [82,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:28:56Z [84,047ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:30.123] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:30.211] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:29:08Z [96,231ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:44.848] [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. +[00:01:44.850] [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. +2026-09-21T15:29:12Z [100,468ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:29:12Z [100,469ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:29:12Z [100,470ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:29:12Z [100,471ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:29:16Z [103,597ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:29:34Z [122,268ms] [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 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +2026-09-21T15:31:13Z [221,408ms] [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 +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T15:34:42Z [430,055ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:34:42Z [430,055ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:34:42Z [430,055ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[430.236s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..4fc167bd9484f5ddedb49a5e7c0478b90be508bb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c30a2cdeeb1eb742f4d0e268e0164156402cade922d28d36810f1f3b68cb5dcd +size 762 diff --git 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019520-f004901", + "kind": "vla", + "episode_id": "00019520", + "instance_id": 952, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019520.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019520.json", + "frame": 4901, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4901, + 10535 + ], + "reason": "No-progress tail: last state change at f4905, then 5,630 frames of log silence. Both grippers empty, trash_can on floor, can_115 still on floor untouched. Seed at row start; either arm is free so `arm=either`, though the log alone cannot rule out failed reach attempts across this span." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..a40d2acc617e8bae728879c2f959d6b2c93c7fee --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019520-f004901/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019520-f004901", + "episode_id": "00019520", + "instance_id": 952, + "start_type": "judgement_seed", + "source_frame": 4901, + "attempt": "attempt_001", + "completed_at": "2026-09-21T15:35:28+00:00", + "success": false, + "status": "error", + "error": 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"shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + 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true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", 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The transitions log contains zero entries, and all sampled frames show open, empty grippers. Restarting from frame 0 restores the initial scene state. The robot should begin by executing the first required action in the task sequence: pick up the trash can from the kitchen floor with the right arm." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2864a73b1ab0c1455c3cc32952f9df04ce569e97 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/events.jsonl @@ -0,0 +1,1130 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 6184, "event": "joint_tracking", "max_error_rad": 2.205371856689453e-06} +{"step": 6184, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.077017784118652, 6.217817783355713, 0.36354801058769226], "desired_xyz": [5.077013722435491, 6.217818583138552, 0.36353899788272664], "error_m": 9.917952081462732e-06} +{"step": 6184, "event": "eef_target", "arm": "right", "body_xyz": [0.5463479979925355, -0.27959299770602764, 0.3283337213685239], "world_xyz": [5.07700966075233, 6.217813660875493, 0.33353537820602064], "held": {"left": null, "right": null}} +{"step": 6184, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6184, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 6199, "event": "joint_tracking", "max_error_rad": 4.291534423828125e-06} +{"step": 6199, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.07701301574707, 6.217813491821289, 0.33354452252388], "desired_xyz": [5.07700966075233, 6.217813660875493, 0.33353537820602064], "error_m": 9.741823142867692e-06} +{"step": 6199, "event": "eef_target", "arm": "right", "body_xyz": [0.5463542007785196, -0.27959007562723115, 0.2933338450307686], "world_xyz": [5.07700966075233, 6.217813660875493, 0.2985353782060207], "held": {"left": null, "right": null}} +{"step": 6199, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6199, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 6224, "event": "joint_tracking", "max_error_rad": 1.0728836059570312e-06} +{"step": 6224, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.077009677886963, 6.217815399169922, 0.29854583740234375], "desired_xyz": [5.07700966075233, 6.217813660875493, 0.2985353782060207], "error_m": 1.060267649427575e-05} +{"step": 6224, "event": "eef_target", "arm": "right", "body_xyz": [0.5463579981705445, -0.27959065079014933, 0.26833382497197855], "world_xyz": [5.07700966075233, 6.217813660875493, 0.2735353782060206], "held": {"left": null, "right": null}} +{"step": 6224, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6224, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 6249, "event": "joint_tracking", "max_error_rad": 3.0994415283203125e-06} +{"step": 6249, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.077010154724121, 6.217813968658447, 0.27354270219802856], "desired_xyz": [5.07700966075233, 6.217813660875493, 0.2735353782060206], "error_m": 7.347080876845165e-06} +{"step": 6279, "event": "eef_target", "arm": "right", "body_xyz": [0.5471116007289923, -0.28285059942627067, 0.3095792468144883], "world_xyz": [5.08051120806528, 6.218043131176515, 0.31478219753211883], "held": {"left": null, "right": "trash_can_116"}} +{"step": 6279, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6279, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.44345437029559787, -0.4128516858509264, 0.035378893277306284], [0.3122517236604576, 0.3831170873154192, 0.41090362613138826]]} +{"step": 6296, "event": "joint_tracking", "max_error_rad": 0.009412527084350586} +{"step": 6296, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.082120895385742, 6.217647552490234, 0.3150932788848877], "desired_xyz": [5.08051120806528, 6.218043131176515, 0.31478219753211883], "error_m": 0.001686519307549183} +{"step": 6296, "event": "eef_target", "arm": "right", "body_xyz": [0.5468675419609778, -0.2817059082756673, 0.34916467189079714], "world_xyz": [5.07934402562763, 6.217966641076174, 0.3543665910900861], "held": {"left": null, "right": "trash_can_116"}} +{"step": 6296, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6296, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.443454176546868, -0.4128509950908521, 0.035377677489003966], [0.31225110892253777, 0.3831162559861491, 0.41090444399924914]]} +{"step": 6313, "event": "joint_tracking", "max_error_rad": 0.009534716606140137} +{"step": 6313, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.080972671508789, 6.217565059661865, 0.354672908782959], "desired_xyz": [5.07934402562763, 6.217966641076174, 0.3543665910900861], "error_m": 0.0017051643813728668} +{"step": 6313, "event": "eef_target", "arm": "right", "body_xyz": [0.5466249005680849, -0.28056026313459137, 0.3887502090338967], "world_xyz": [5.078176843189979, 6.217890150975833, 0.3939509846480534], "held": {"left": null, "right": "trash_can_116"}} +{"step": 6313, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6313, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4434552761209939, -0.4128512391314588, 0.03537644810476252], [0.3122519544719925, 0.38311662999888446, 0.41090528914088015]]} +{"step": 6330, "event": "joint_tracking", "max_error_rad": 0.009740710258483887} +{"step": 6330, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.079845428466797, 6.217477321624756, 0.3942612409591675], "desired_xyz": [5.078176843189979, 6.217890150975833, 0.3939509846480534], "error_m": 0.0017466722296154717} +{"step": 6330, "event": "eef_target", "arm": "right", "body_xyz": [0.5463843222184883, -0.2794143631682205, 0.4283335299792219], "world_xyz": [5.07700966075233, 6.217813660875493, 0.43353537820602067], "held": {"left": null, "right": "trash_can_116"}} +{"step": 6330, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 6330, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.44345582642370507, -0.4128527673646339, 0.03537758640258834], [0.312253313589933, 0.3831176625270525, 0.4109045195204002]]} +{"step": 6347, "event": "joint_tracking", "max_error_rad": 0.009982824325561523} +{"step": 6347, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.0787529945373535, 6.217394828796387, 0.4338558316230774], "desired_xyz": [5.07700966075233, 6.217813660875493, 0.43353537820602067], "error_m": 0.0018213520771660832} +{"step": 6347, "event": "primitive_verified", "operation": "pick_bin", "start": 5880, "end": 6347} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..382db303645963b9e2b81a5b4364737f1acf39e7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/6347 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.323s] [ext: omni.physics.tensors-107.3.26] startup +[2.327s] [ext: omni.warp.core-1.8.2] startup +[2.436s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.438s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T10:51:32Z [2,402ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.444s] [ext: omni.physx.tensors-107.3.26] startup +[2.449s] [ext: isaacsim.core.utils-3.5.1] startup +[2.452s] [ext: omni.graph.image.core-0.6.1] startup +[2.453s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.529s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.530s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.532s] [ext: isaacsim.core.prims-0.6.1] startup +[2.549s] [ext: omni.syntheticdata-0.6.13] startup +[2.560s] [ext: isaacsim.core.api-4.8.0] startup +[2.576s] [ext: omni.videoencoding-0.1.2] startup +[2.579s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.580s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.583s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.584s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.585s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.588s] [ext: omni.graph.nodes-1.170.10] startup +[2.597s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.600s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.603s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T10:51:32Z [2,563ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.604s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.610s] [ext: omni.warp-1.8.2] startup +[2.615s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.627s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.632s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.640s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.683s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T10:51:32Z [2,665ms] [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 +2026-09-20T10:51:32Z [2,753ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T10:51:32Z [2,753ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T10:51:32Z [2,753ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.796s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.800s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.808s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.819s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T10:51:32Z [2,787ms] [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. +[2.830s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.854s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.991s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.069s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.079s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.121s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T10:51:33Z [3,085ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.150s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.156s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T10:51:33Z [3,121ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.162s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T10:51:33Z [3,124ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.165s] [ext: omni.anim.curve.core-1.3.1] startup +[3.182s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T10:51:33Z [3,143ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:51:33Z [3,143ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T10:51:33Z [3,165ms] [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. +[3.206s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.222s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T10:51:33Z [3,182ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.224s] [ext: omni.kit.selection-0.1.6] startup +[3.227s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.234s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T10:51:33Z [3,194ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,194ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,195ms] [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. +2026-09-20T10:51:33Z [3,196ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,196ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,196ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,197ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,197ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,197ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T10:51:33Z [3,197ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.239s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.252s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.266s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.278s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T10:51:33Z [3,239ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.284s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.298s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T10:51:33Z [3,258ms] [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. +2026-09-20T10:51:33Z [3,259ms] [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. +2026-09-20T10:51:33Z [3,262ms] [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. +2026-09-20T10:51:33Z [3,262ms] [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. +2026-09-20T10:51:33Z [3,262ms] [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. +2026-09-20T10:51:33Z [3,263ms] [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. +2026-09-20T10:51:33Z [3,263ms] [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. +2026-09-20T10:51:33Z [3,264ms] [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. +2026-09-20T10:51:33Z [3,264ms] [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. +2026-09-20T10:51:33Z [3,264ms] [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. +2026-09-20T10:51:33Z [3,265ms] [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. +2026-09-20T10:51:33Z [3,265ms] [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. +2026-09-20T10:51:33Z [3,265ms] [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. +2026-09-20T10:51:33Z [3,266ms] [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. +2026-09-20T10:51:33Z [3,266ms] [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. +2026-09-20T10:51:33Z [3,266ms] [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. +[3.308s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T10:51:33Z [3,269ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.311s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T10:51:33Z [3,274ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T10:51:33Z [3,275ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.316s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T10:51:33Z [3,276ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.318s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T10:51:33Z [3,279ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.324s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.331s] [ext: omni.isaac.utils-2.0.6] startup +[3.334s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.351s] [ext: isaacsim.app.about-2.0.11] startup +[3.354s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T10:51:33Z [3,314ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.356s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.357s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T10:51:33Z [3,318ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T10:51:33Z [3,319ms] [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. +2026-09-20T10:51:33Z [3,319ms] [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. +2026-09-20T10:51:33Z [3,319ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,320ms] [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. +2026-09-20T10:51:33Z [3,321ms] [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. +2026-09-20T10:51:33Z [3,322ms] [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. +[3.365s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T10:51:33Z [3,333ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T10:51:33Z [3,334ms] [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. +[3.376s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.386s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T10:51:33Z [3,345ms] [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. +[3.386s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.400s] [ext: omni.kit.property.audio-1.0.16] startup +[3.402s] [ext: omni.kit.property.camera-1.0.10] startup +[3.404s] [ext: omni.sensors.net-1.0.0] startup +[3.408s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.412s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.417s] [ext: omni.kit.property.light-1.0.12] startup +[3.462s] [ext: omni.kit.property.material-1.11.9] startup +[3.471s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.474s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.476s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.480s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.490s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.498s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.502s] [ext: omni.kit.property.render-1.2.1] startup +[3.504s] [ext: omni.kit.property.transform-1.5.13] startup +[3.509s] [ext: isaacsim.gui.property-1.1.3] startup +[3.512s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.521s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.530s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.540s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.545s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.550s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T10:51:33Z [3,510ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T10:51:33Z [3,510ms] [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. +[3.551s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T10:51:33Z [3,511ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T10:51:33Z [3,512ms] [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. +[3.553s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.572s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T10:51:33Z [3,534ms] [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. +2026-09-20T10:51:33Z [3,534ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T10:51:33Z [3,535ms] [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. +2026-09-20T10:51:33Z [3,535ms] [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. +2026-09-20T10:51:33Z [3,535ms] [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. +2026-09-20T10:51:33Z [3,535ms] [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. +2026-09-20T10:51:33Z [3,535ms] [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. +2026-09-20T10:51:33Z [3,536ms] [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. +2026-09-20T10:51:33Z [3,537ms] [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. +2026-09-20T10:51:33Z [3,538ms] [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. +2026-09-20T10:51:33Z [3,538ms] [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. +[3.579s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T10:51:33Z [3,542ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.584s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.596s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.600s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.602s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.604s] [ext: omni.ocio-0.1.1] startup +[3.608s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.617s] [ext: omni.kit.window.console-1.1.4] startup +[3.627s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.631s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T10:51:33Z [3,592ms] [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. +[3.633s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.639s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.646s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.657s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T10:51:33Z [3,617ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.659s] [ext: semantics.schema.editor-2.0.2] startup +[3.664s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.666s] [ext: semantics.schema.property-2.0.1] startup +[3.667s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T10:51:33Z [3,627ms] [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. +2026-09-20T10:51:33Z [3,628ms] [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. +2026-09-20T10:51:33Z [3,629ms] [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. +[3.670s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T10:51:33Z [3,631ms] [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. +2026-09-20T10:51:33Z [3,632ms] [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. +2026-09-20T10:51:33Z [3,632ms] [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. +2026-09-20T10:51:33Z [3,632ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.674s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.688s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.695s] [ext: omni.kit.menu.common-2.0.1] startup +[3.697s] [ext: isaacsim.exp.base-5.1.0] startup +[3.697s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.699s] Simulation App Starting +2026-09-20T10:51:33Z [3,971ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.033s] app ready +[6.459s] Simulation App Startup Complete +[6.777s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T10:51:36Z [6,857ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T10:51:37Z [7,771ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.407] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.635] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T10:52:35Z [65,054ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:52:37Z [67,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:37Z [67,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:37Z [67,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:37Z [67,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:37Z [67,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:37Z [67,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,032ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,138ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,138ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,139ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,139ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,171ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,171ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:38Z [68,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,092ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,092ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,100ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,100ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,118ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,128ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,128ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,357ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,357ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,358ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,358ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,664ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,664ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,665ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,665ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T10:52:39Z [69,812ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T10:52:40Z [70,838ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:14.837] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:14.892] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T10:52:50Z [80,132ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:24.588] [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. +[00:01:24.591] [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. +2026-09-20T10:52:51Z [80,983ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:52:51Z [80,984ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:52:51Z [80,985ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:52:51Z [80,986ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T10:52:54Z [84,198ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T10:53:02Z [92,698ms] [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 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1080 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T10:56:27Z [297,827ms] [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 +RECOVERY progress 1200 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, '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': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T10:58:35Z [425,327ms] [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 1800 grasp_can {'can__of__soda.n.01_1': False, '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 1920 coordinate_bin_under_can {'can__of__soda.n.01_1': False, '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 2040 orient_bin_for_gravity {'can__of__soda.n.01_1': False, '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 2160 meet_hands_for_drop {'can__of__soda.n.01_1': False, '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 2280 meet_hands_for_drop {'can__of__soda.n.01_1': False, '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 2400 release_into_aligned_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 retract_hand_after_release {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 recover_and_reobserve {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3600 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3720 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:10:26Z [1,136,768ms] [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 3840 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3960 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4080 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4200 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4320 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4440 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4560 transport_posture {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4680 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4800 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4920 park_can_for_ground {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5040 park_can_for_ground {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5160 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5280 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 5400 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 5520 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 5640 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 5760 deposit_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': None} +RECOVERY progress 5880 deposit_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': None} +RECOVERY progress 6000 navigate_to_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 6120 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 6240 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T11:17:48Z [1,578,959ms] [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 +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-20T11:17:58Z [1,588,968ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:17:58Z [1,588,968ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:17:58Z [1,588,968ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1589.110s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..fa39d791ab521b3018c1494d0b5e9205baa4d820 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44b7302594a286c073e01f864665a57a65e8d66c9feb137fff30131b5e894977 +size 6475 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..88c28ee9c6121b0988fdbab0199a64f3e294c883 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:374360c09e95916928115bbc43063892d5218484d405f605bb9fbb5a81a8f7e0 +size 99220127 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bcb1e2223e2f95186bda639569ec82ab5bba5ead --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:511992195402683768479c9df24d81deca355cedd5f8ed35a096482bed3da911 +size 13218622 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2766550aa61eaac8c0e8a6ad9da83ce32d6a53 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019530-f000000", + "kind": "vla", + "episode_id": "00019530", + "instance_id": 953, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019530.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019530.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 10535 + ], + "reason": "No manipulation occurred throughout the entire episode. The transitions log contains zero entries, and all sampled frames show open, empty grippers. Restarting from frame 0 restores the initial scene state. The robot should begin by executing the first required action in the task sequence: pick up the trash can from the kitchen floor with the right arm." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..47bf95982bab9144df6af30f155e1cf8e37aa744 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019530-f000000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019530-f000000", + "episode_id": "00019530", + "instance_id": 953, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-20T11:23:38+00:00", + "success": false, + "status": 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Seed at the first frame of the row \u2014 the moment of divergence, right after C3 completed. At this frame the right arm is holding the trash can, so the left arm must do the recovery pick." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be38d0d3a941f3c6dabfa6be1932e9ec7ee551a1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/events.jsonl @@ -0,0 +1,229 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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[4.229253768920898, 5.822456359863281, 0.3155253827571869], "ashcan.n.01_1": [4.198093414306641, 5.856445789337158, 0.3038453459739685]}, "robot_pose": [[4.7794270515441895, 6.100107669830322, 0.005285322666168213], [7.689371705055237e-05, 2.5131470465566963e-05, -0.974023699760437, 0.22644644975662231]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..10a5dd3838964f666110cbd6e342f6c73eb79222 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1146 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.044s] [ext: omni.physics.tensors-107.3.26] startup +[2.048s] [ext: omni.warp.core-1.8.2] startup +[2.163s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.165s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T11:00:52Z [2,160ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.181s] [ext: omni.physx.tensors-107.3.26] startup +[2.189s] [ext: isaacsim.core.utils-3.5.1] startup +[2.192s] [ext: omni.graph.image.core-0.6.1] startup +[2.194s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.295s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.297s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.299s] [ext: isaacsim.core.prims-0.6.1] startup +[2.314s] [ext: omni.syntheticdata-0.6.13] startup +[2.333s] [ext: isaacsim.core.api-4.8.0] startup +[2.350s] [ext: omni.videoencoding-0.1.2] startup +[2.352s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.354s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.357s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.358s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.359s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.364s] [ext: omni.graph.nodes-1.170.10] startup +[2.380s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.384s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.388s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T11:00:52Z [2,369ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.389s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.401s] [ext: omni.warp-1.8.2] startup +[2.409s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.430s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.433s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.483s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.526s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T11:00:53Z [2,515ms] [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 +2026-09-20T11:00:53Z [2,587ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T11:00:53Z [2,587ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T11:00:53Z [2,587ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.609s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.613s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.617s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.627s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T11:00:53Z [2,609ms] [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. +[2.631s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.636s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.691s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.756s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.783s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.801s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T11:00:53Z [2,785ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.847s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.888s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T11:00:53Z [2,888ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.914s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T11:00:53Z [2,909ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.930s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.991s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T11:00:53Z [2,973ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:00:53Z [2,974ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:00:53Z [2,988ms] [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. +[3.009s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.016s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T11:00:53Z [2,997ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.017s] [ext: omni.kit.selection-0.1.6] startup +[3.025s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.037s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T11:00:53Z [3,018ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,018ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,019ms] [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. +2026-09-20T11:00:53Z [3,020ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,021ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,021ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,021ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,022ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,022ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:00:53Z [3,023ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.043s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.062s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.076s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.087s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T11:00:53Z [3,073ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.093s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.102s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T11:00:53Z [3,084ms] [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. +2026-09-20T11:00:53Z [3,084ms] [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. +2026-09-20T11:00:53Z [3,084ms] [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. +2026-09-20T11:00:53Z [3,085ms] [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. +2026-09-20T11:00:53Z [3,086ms] [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. +2026-09-20T11:00:53Z [3,087ms] [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. +2026-09-20T11:00:53Z [3,088ms] [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. +2026-09-20T11:00:53Z [3,088ms] [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. +2026-09-20T11:00:53Z [3,088ms] [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. +2026-09-20T11:00:53Z [3,089ms] [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. +2026-09-20T11:00:53Z [3,089ms] [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. +2026-09-20T11:00:53Z [3,089ms] [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. +2026-09-20T11:00:53Z [3,089ms] [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. +2026-09-20T11:00:53Z [3,089ms] [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. +2026-09-20T11:00:53Z [3,090ms] [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. +2026-09-20T11:00:53Z [3,090ms] [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. +[3.113s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T11:00:53Z [3,101ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.124s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T11:00:53Z [3,108ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T11:00:53Z [3,110ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.131s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T11:00:53Z [3,112ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.132s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T11:00:53Z [3,114ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.134s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.140s] [ext: omni.isaac.utils-2.0.6] startup +[3.142s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.157s] [ext: isaacsim.app.about-2.0.11] startup +[3.162s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T11:00:53Z [3,143ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.163s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.165s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T11:00:53Z [3,147ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T11:00:53Z [3,147ms] [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. +2026-09-20T11:00:53Z [3,148ms] [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. +2026-09-20T11:00:53Z [3,149ms] [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. +2026-09-20T11:00:53Z [3,149ms] [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. +2026-09-20T11:00:53Z [3,149ms] [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. +2026-09-20T11:00:53Z [3,150ms] [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. +2026-09-20T11:00:53Z [3,151ms] [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. +2026-09-20T11:00:53Z [3,151ms] [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. +2026-09-20T11:00:53Z [3,152ms] [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. +2026-09-20T11:00:53Z [3,152ms] [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. +2026-09-20T11:00:53Z [3,153ms] [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. +[3.173s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T11:00:53Z [3,165ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T11:00:53Z [3,165ms] [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. +[3.186s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.193s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T11:00:53Z [3,173ms] [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. +[3.193s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.210s] [ext: omni.kit.property.audio-1.0.16] startup +[3.212s] [ext: omni.kit.property.camera-1.0.10] startup +[3.213s] [ext: omni.sensors.net-1.0.0] startup +[3.216s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.219s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.222s] [ext: omni.kit.property.light-1.0.12] startup +[3.283s] [ext: omni.kit.property.material-1.11.9] startup +[3.288s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.289s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.291s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.295s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.302s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.306s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.310s] [ext: omni.kit.property.render-1.2.1] startup +[3.311s] [ext: omni.kit.property.transform-1.5.13] startup +[3.313s] [ext: isaacsim.gui.property-1.1.3] startup +[3.315s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.320s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.326s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.334s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.339s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.341s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T11:00:53Z [3,322ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T11:00:53Z [3,322ms] [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. +[3.342s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T11:00:53Z [3,323ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T11:00:53Z [3,324ms] [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. +[3.346s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.366s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T11:00:53Z [3,349ms] [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. +2026-09-20T11:00:53Z [3,350ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T11:00:53Z [3,350ms] [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. +2026-09-20T11:00:53Z [3,350ms] [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. +2026-09-20T11:00:53Z [3,350ms] [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. +2026-09-20T11:00:53Z [3,351ms] [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. +2026-09-20T11:00:53Z [3,351ms] [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. +2026-09-20T11:00:53Z [3,352ms] [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. +2026-09-20T11:00:53Z [3,354ms] [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. +2026-09-20T11:00:53Z [3,354ms] [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. +2026-09-20T11:00:53Z [3,355ms] [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. +[3.375s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T11:00:53Z [3,358ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.379s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.394s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.397s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.399s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.402s] [ext: omni.ocio-0.1.1] startup +[3.405s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.421s] [ext: omni.kit.window.console-1.1.4] startup +[3.427s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.432s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T11:00:53Z [3,413ms] [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. +[3.433s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.437s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.441s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.451s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T11:00:53Z [3,431ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.452s] [ext: semantics.schema.editor-2.0.2] startup +[3.456s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.457s] [ext: semantics.schema.property-2.0.1] startup +[3.459s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T11:00:54Z [3,439ms] [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. +2026-09-20T11:00:54Z [3,439ms] [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. +2026-09-20T11:00:54Z [3,440ms] [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. +[3.460s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T11:00:54Z [3,442ms] [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. +2026-09-20T11:00:54Z [3,442ms] [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. +2026-09-20T11:00:54Z [3,442ms] [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. +2026-09-20T11:00:54Z [3,442ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.462s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.471s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.476s] [ext: omni.kit.menu.common-2.0.1] startup +[3.478s] [ext: isaacsim.exp.base-5.1.0] startup +[3.479s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.480s] Simulation App Starting +2026-09-20T11:00:54Z [3,503ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T11:00:54Z [3,524ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.579s] app ready +[5.558s] Simulation App Startup Complete +[5.850s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T11:00:56Z [5,981ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T11:00:57Z [6,899ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.504] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.688] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T11:01:55Z [64,991ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:01:58Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,590ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,590ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,625ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,625ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,662ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,662ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,663ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,663ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,663ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,663ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,732ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:58Z [67,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,545ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,545ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,564ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,564ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,579ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,579ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,585ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,585ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,591ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,591ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [68,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,042ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:01:59Z [69,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:02:00Z [70,062ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:13.944] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:13.983] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T11:02:08Z [78,286ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:22.607] [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. +[00:01:22.609] [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. +2026-09-20T11:02:09Z [79,051ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:02:09Z [79,052ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:02:09Z [79,053ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:02:09Z [79,054ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:02:12Z [81,794ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T11:02:16Z [85,756ms] [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 +2026-09-20T11:02:21Z [90,471ms] [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 +2026-09-20T11:02:27Z [96,475ms] [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_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:04:56Z [246,125ms] [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_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 720 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 840 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1200 release_into_aligned_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-20T11:06:15Z [325,350ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:06:15Z [325,350ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:06:15Z [325,350ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[325.464s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..e1d5433e0d8a248275156501bb85b303aaf0eec1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5632c710856cb9ec34ebf4865dabff37099cf2960f64af65673c50611a307dad +size 1274 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..cfde686f30db230c285d6560c8b720c559ccde75 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f003301/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019540-f003301/attempt_001", + "geometry_audit_version": 3, + "scope": "Conservative torso/base spheres, including the configured base padding; 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Seed at the first frame of the row \u2014 the moment of divergence, right after C3 completed. 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Seed at the row's first frame per the no-progress rule. Trash can is on the floor and both hands are empty at this state; following the demo pattern the next action is A1 \u2014 re-pick trash_can_116 with the right arm \u2014 after which the left can go for can_113." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b38b85cd9ea52ba0053808b29e8652c45b58955 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/events.jsonl @@ -0,0 +1,268 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"can__of__soda.n.01_3": [4.26189661026001, 5.600788116455078, 0.06461405009031296], "can__of__soda.n.01_1": [5.353435516357422, 6.7829508781433105, 0.042973630130290985], "ashcan.n.01_1": [5.280086517333984, 6.7727813720703125, 0.09300334006547928]}, "robot_pose": [[4.9018659591674805, 6.284801483154297, 0.005285248160362244], [-5.266070365905762e-05, 6.07139227213338e-05, 0.5841944813728333, 0.8116137981414795]]}} +{"step": 828, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": true} +{"step": 828, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": true} +{"step": 828, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": true} +{"step": 828, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 828, "event": "approach_candidates", "key": "pick_bin", "target": [5.280086517333984, 6.7727813720703125], "evaluated": 43, "traversable": 20, "previously_tried": 2, "chosen": {"xy": [4.7850746442120995, 6.4605903320509634], "yaw": 0.9114399849777826, "delta": 0.0, "distance": 0.55}} +{"step": 915, "event": "stage", "name": "grasp_bin", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[4.741986274719238, 6.787012577056885, 0.39790043234825134], [-0.4609155058860779, 0.8510381579399109, -0.17880505323410034, 0.17697441577911377]], "right": [[5.355190753936768, 6.688793182373047, 0.3949173092842102], [-0.4468247890472412, 0.8703083992004395, 0.07641272991895676, 0.1925409734249115]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.210779190063477, 6.756589889526367, 0.07192161679267883], "can__of__soda.n.01_3": [4.26189661026001, 5.600788116455078, 0.06461405009031296], "can__of__soda.n.01_1": [5.353440761566162, 6.782959461212158, 0.04295329377055168], "ashcan.n.01_1": [5.280085563659668, 6.772793292999268, 0.09300342947244644]}, "robot_pose": [[4.770584583282471, 6.429055213928223, 0.005285412073135376], [-4.191417247056961e-05, 6.897572166053578e-05, 0.44173768162727356, 0.8971441984176636]]}} +{"step": 925, "event": "bin_grasp_target", "world": [5.331006574047464, 6.677715899732786, 0.17159667303399365], "body": [0.5387723820119383, -0.29257888870012705, 0.16639362536340882]} +{"step": 925, "event": "eef_target", "arm": "right", "body_xyz": [0.554424837051313, -0.3008558567978816, 0.3552764074036585], "world_xyz": [5.347127135400261, 6.685101072717732, 0.3604770574643748], "held": {"left": null, "right": null}} +{"step": 925, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 925, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 954, "event": "joint_tracking", "max_error_rad": 3.945082426071167e-06} +{"step": 954, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.347138404846191, 6.685103893280029, 0.36049598455429077], "desired_xyz": [5.347127135400261, 6.685101072717732, 0.3604770574643748], "error_m": 2.2207897602772386e-05} +{"step": 954, "event": "eef_target", "arm": "right", "body_xyz": [0.5465885119297293, -0.2967176144685012, 0.3208344282794218], "world_xyz": [5.339066854723863, 6.681408486225259, 0.32603686524918424], "held": {"left": null, "right": null}} +{"step": 954, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 954, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 983, "event": "joint_tracking", "max_error_rad": 1.952052116394043e-06} +{"step": 983, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.3390793800354, 6.681412696838379, 0.32605502009391785], "desired_xyz": [5.339066854723863, 6.681408486225259, 0.32603686524918424], "error_m": 2.2454644937062355e-05} +{"step": 983, "event": "eef_target", "arm": "right", "body_xyz": [0.5387524829830173, -0.29257935381169387, 0.28639383527514684], "world_xyz": [5.331006574047464, 6.677715899732786, 0.29159667303399356], "held": {"left": null, "right": null}} +{"step": 983, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 983, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1012, "event": "joint_tracking", "max_error_rad": 4.76837158203125e-07} +{"step": 1012, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.331018924713135, 6.677718639373779, 0.29161709547042847], "desired_xyz": [5.331006574047464, 6.677715899732786, 0.29159667303399356], "error_m": 2.4023332100624385e-05} +{"step": 1012, "event": "eef_target", "arm": "right", "body_xyz": [0.5387628015556125, -0.29258360395748334, 0.2564036161726981], "world_xyz": [5.3310127493802995, 6.677717269553282, 0.261606884252211], "held": {"left": null, "right": null}} +{"step": 1012, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1012, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1027, "event": "joint_tracking", "max_error_rad": 2.4139881134033203e-06} +{"step": 1027, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.331011772155762, 6.677713871002197, 0.26161712408065796], "desired_xyz": [5.3310127493802995, 6.677717269553282, 0.261606884252211], "error_m": 1.0833245307725868e-05} +{"step": 1027, "event": "eef_target", "arm": "right", "body_xyz": [0.5387689055415625, -0.29257712964874527, 0.22639365322050561], "world_xyz": [5.331006574047464, 6.677715899732786, 0.23159667303399373], "held": {"left": null, "right": null}} +{"step": 1027, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1027, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1042, "event": "joint_tracking", "max_error_rad": 0.010891079902648926} +{"step": 1042, "event": "eef_tracking", "arm": "right", "actual_xyz": [5.331007957458496, 6.677806377410889, 0.2316877245903015], "desired_xyz": [5.331006574047464, 6.677715899732786, 0.23159667303399373], "error_m": 0.0001283686486918916} +{"step": 1042, "event": "eef_target", "arm": "right", "body_xyz": [0.5387779857420896, -0.29257698536920745, 0.19139238097999606], "world_xyz": [5.331006574047464, 6.677715899732786, 0.19659667303399378], "held": {"left": null, "right": null}} +{"step": 1042, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.05690621960415709, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1042, "event": "self_collision_guard", "rejected_self_collision": 12, "rejected_held_clearance": 0, "worst_rejected_pair": [["base_link", "left_gripper_finger_link1"], 0.013658968703612532], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1042, "event": "actions_rejected", "start": 1042, "end": 1042, "reason": "ik_infeasible:right:[ 0.539 -0.293 0.191]"} +{"step": 1042, "event": "primitive_failure", "operation": "pick_bin", "reason": "ik_infeasible:right:[ 0.539 -0.293 0.191]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..9f33b170ffdbf7390bffe2e8852284464b9c4a00 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1042 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 289, in pick\n self.descend_and_close(obj, arm, target[:3, 3], orientation, ref)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 349, in descend_and_close\n self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref[\"q\"])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.539 -0.293 0.191]\n", + "steps": 1042, + "final_task": { + "inside": { + "can__of__soda.n.01_2": true, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": true + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 4.7041401863098145, + 6.762428283691406, + 0.29320767521858215 + ], + [ + -0.4978548288345337, + 0.8383057117462158, + -0.20049013197422028, + 0.09585370123386383 + ] + ], + "right": [ + [ + 5.331007957458496, + 6.677806377410889, + 0.2316877245903015 + ], + [ + -0.44539913535118103, + 0.8524259328842163, + 0.045209456235170364, + 0.2700849771499634 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 5.210778713226318, + 6.756586074829102, + 0.07192113250494003 + ], + "can__of__soda.n.01_3": [ + 4.26189661026001, + 5.600788116455078, + 0.06461405009031296 + ], + "can__of__soda.n.01_1": [ + 5.353424072265625, + 6.782987117767334, + 0.04292718321084976 + ], + "ashcan.n.01_1": [ + 5.280086040496826, + 6.772786617279053, + 0.0930035337805748 + ] + }, + "robot_pose": [ + [ + 4.770578384399414, + 6.429050922393799, + 0.005285337567329407 + ], + [ + -4.1983090341091156e-05, + 6.782459968235344e-05, + 0.4417342245578766, + 0.8971459865570068 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 451 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b7d14bfbc52243fac8332efb87943a6522480fa1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f74fffb0135c5180e7275f0c9a4442e6f29ac8ec51524f1d4cd0606554d766d8 +size 438152 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..50e599f9e95a6f747eb78e014144353f358f329c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/run.log @@ -0,0 +1,642 @@ +RECOVERY building environment +[00:00:04.412] [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_232902.log +[0.036s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.091s] [ext: omni.metrics.core-0.0.3] startup +[0.092s] [ext: omni.client.lib-1.1.0] startup +[0.105s] [ext: omni.blobkey-1.1.2] startup +[0.105s] [ext: omni.stats-1.0.1] startup +[0.106s] [ext: omni.datastore-0.0.0] startup +[0.113s] [ext: omni.client-1.3.0] startup +[0.118s] [ext: omni.ujitso.default-1.0.0] startup +[0.120s] [ext: omni.hsscclient-1.1.2] startup +[0.127s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.129s] [ext: omni.assets.plugins-0.0.0] startup +[0.131s] [ext: omni.gpu_foundation-0.0.0] startup +[0.141s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T15:29:02Z [129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:02Z [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) +[0.142s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T15:29:02Z [155ms] [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: 44438 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T15:29:03Z [754ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.899s] [ext: omni.materialx.libs-1.0.7] startup +[0.914s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.915s] [ext: omni.kit.test-2.0.1] startup +[0.930s] [ext: omni.usd.config-1.0.6] startup +[0.932s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.932s] [ext: omni.usd.libs-1.0.1] startup +[1.042s] [ext: omni.kit.telemetry-0.5.2] startup +[1.062s] [ext: omni.mdl-56.0.3] startup +[1.080s] [ext: omni.iray.libs-0.0.0] startup +[1.087s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.089s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.202s] [ext: omni.kit.pipapi-0.0.0] startup +[1.203s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T15:29:04Z [1,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,193ms] [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) +[1.208s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T15:29:04Z [1,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,213ms] [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) +2026-09-21T15:29:04Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,222ms] [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) +[1.237s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.241s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T15:29:04Z [1,234ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,234ms] [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) +2026-09-21T15:29:04Z [1,237ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,237ms] [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) +2026-09-21T15:29:04Z [1,239ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:29:04Z [1,239ms] [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) +[1.389s] [ext: omni.ui-2.27.1] startup +[1.400s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.401s] [ext: carb.audio-0.1.0] startup +[1.406s] [ext: omni.uiaudio-1.0.0] startup +[1.409s] [ext: omni.kit.uiapp-0.0.0] startup +[1.409s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.413s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.420s] [ext: omni.usd_resolver-1.0.0] startup +[1.428s] [ext: omni.usd.core-1.5.3] startup +[1.434s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.464s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.499s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.504s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.509s] [ext: omni.kit.actions.core-1.0.0] startup +[1.512s] [ext: omni.activity.core-1.0.3] startup +[1.514s] [ext: omni.kit.commands-1.4.10] startup +[1.519s] [ext: usdrt.scenegraph-7.6.1] startup +[1.564s] [ext: omni.resourcemonitor-107.0.1] startup +[1.565s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.566s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.574s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.575s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.578s] [ext: omni.graph.exec-0.9.6] startup +[1.578s] [ext: omni.timeline-1.0.14] startup +[1.580s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.581s] [ext: omni.kit.exec.core-0.13.4] startup +[1.583s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.589s] [ext: omni.usd-1.13.10] startup +[1.614s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.624s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.624s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.631s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.638s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.643s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.643s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.644s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.672s] [ext: omni.inspect-1.0.2] startup +[1.673s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.674s] [ext: omni.graph.core-2.184.5] startup +[1.677s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.677s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.678s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.684s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.687s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.688s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.691s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.691s] [ext: omni.kit.clipboard-1.0.5] startup +[1.692s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.698s] [ext: omni.ui.scene-1.11.5] startup +[1.701s] [ext: omni.index.libs-380600.8087.0] startup +[1.701s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.707s] [ext: omni.index-1.0.1] startup +[1.707s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.708s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.710s] [ext: omni.volume-0.5.2] startup +[1.712s] [ext: omni.ujitso.client-0.0.0] startup +[1.713s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.714s] [ext: omni.kit.menu.core-1.1.2] startup +[1.714s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T15:29:04Z [1,721ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.755s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.756s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.759s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.759s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.764s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.770s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.774s] [ext: omni.kit.context_menu-1.8.6] startup +[1.775s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.778s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.778s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.780s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.786s] [ext: omni.kit.material.library-2.0.7] startup +[1.789s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.790s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.793s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.805s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.806s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.807s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.807s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.807s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.808s] [ext: omni.kit.browser.core-2.3.13] startup +[1.810s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.811s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.818s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.821s] [ext: omni.kit.window.file-2.0.5] startup +[1.823s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.823s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.823s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.825s] [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 +[1.841s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.848s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.850s] [ext: omni.graph.action_core-1.1.7] startup +[1.851s] [ext: omni.graph-1.141.2] startup +[1.878s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.879s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.883s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.887s] [ext: omni.kit.window.stage-2.6.1] startup +[1.894s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.895s] [ext: omni.graph.action-1.130.0] startup +[1.896s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.898s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.901s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.902s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.904s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.921s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.924s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.925s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.926s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.935s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.936s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.937s] [ext: omni.kit.window.property-1.12.1] startup +[1.939s] [ext: omni.ui_query-1.1.8] startup +[1.940s] [ext: omni.kit.property.usd-4.5.12] startup +[1.947s] [ext: omni.kit.menu.create-2.0.1] startup +[1.948s] [ext: isaacsim.core.version-2.0.6] startup +[1.949s] [ext: omni.kit.ui_test-1.3.7] startup +[1.950s] [ext: omni.kit.scripting-107.3.2] startup +[1.953s] [ext: omni.convexdecomposition-107.3.26] startup +[1.957s] [ext: isaacsim.storage.native-1.5.1] startup +[1.958s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.964s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.967s] [ext: omni.kvdb-107.3.26] startup +[1.969s] [ext: omni.usdphysics-107.3.26] startup +[1.972s] [ext: omni.physx.foundation-107.3.26] startup +[1.973s] [ext: omni.localcache-107.3.26] startup +[1.974s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.978s] [ext: omni.physx.cooking-107.3.26] startup +[1.982s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.983s] [ext: omni.physx-107.3.26] startup +[1.991s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.995s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.996s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.999s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.006s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.007s] [ext: isaacsim.gui.components-1.2.1] startup +[2.010s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.011s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.088s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.091s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.103s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.108s] [ext: omni.fabric.commands-1.1.6] startup +[2.112s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.114s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.116s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.125s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.127s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.128s] [ext: omni.debugdraw-0.1.4] startup +[2.134s] [ext: omni.physics-107.3.26] startup +[2.139s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.162s] [ext: omni.physx.commands-107.3.26] startup +[2.167s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.170s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.172s] [ext: omni.physx.ui-107.3.26] startup +[2.203s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.208s] [ext: omni.physx.supportui-107.3.26] startup +[2.219s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.221s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.223s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.228s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T15:29:05Z [2,218ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.232s] [ext: omni.physics.tensors-107.3.26] startup +[2.238s] [ext: omni.warp.core-1.8.2] startup +[2.393s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.397s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:29:05Z [2,394ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.408s] [ext: omni.physx.tensors-107.3.26] startup +[2.414s] [ext: isaacsim.core.utils-3.5.1] startup +[2.419s] [ext: omni.graph.image.core-0.6.1] startup +[2.421s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.551s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.554s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.556s] [ext: isaacsim.core.prims-0.6.1] startup +[2.579s] [ext: omni.syntheticdata-0.6.13] startup +[2.592s] [ext: isaacsim.core.api-4.8.0] startup +[2.607s] [ext: omni.videoencoding-0.1.2] startup +[2.611s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.612s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.615s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.616s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.616s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.620s] [ext: omni.graph.nodes-1.170.10] startup +[2.634s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.637s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.641s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:29:05Z [2,630ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.642s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.649s] [ext: omni.warp-1.8.2] startup +[2.653s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.668s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.672s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.712s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.765s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:29:05Z [2,767ms] [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 +2026-09-21T15:29:05Z [2,843ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:29:05Z [2,843ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:29:05Z [2,844ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.859s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.863s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.868s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.876s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:29:05Z [2,866ms] [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. +[2.882s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.890s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.921s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.948s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.958s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.974s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:29:05Z [2,968ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.004s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.007s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:29:05Z [3,010ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.025s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:29:05Z [3,017ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.039s] [ext: omni.anim.curve.core-1.3.1] startup +[3.105s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:29:05Z [3,096ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:29:05Z [3,097ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:29:06Z [3,181ms] [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. +[3.195s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.288s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:29:06Z [3,278ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.291s] [ext: omni.kit.selection-0.1.6] startup +[3.317s] [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. +[3.383s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:29:06Z [3,372ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,372ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,373ms] [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. +2026-09-21T15:29:06Z [3,374ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,375ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,375ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,377ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,377ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,377ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:29:06Z [3,377ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.390s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.407s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.417s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.427s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:29:06Z [3,415ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.430s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.438s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:29:06Z [3,428ms] [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. +2026-09-21T15:29:06Z [3,428ms] [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. +2026-09-21T15:29:06Z [3,430ms] [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. +2026-09-21T15:29:06Z [3,434ms] [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. +2026-09-21T15:29:06Z [3,435ms] [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. +2026-09-21T15:29:06Z [3,436ms] [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. +2026-09-21T15:29:06Z [3,436ms] [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. +2026-09-21T15:29:06Z [3,436ms] [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. +2026-09-21T15:29:06Z [3,437ms] [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. +2026-09-21T15:29:06Z [3,438ms] [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. +2026-09-21T15:29:06Z [3,441ms] [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. +2026-09-21T15:29:06Z [3,450ms] [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. +2026-09-21T15:29:06Z [3,451ms] [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. +2026-09-21T15:29:06Z [3,453ms] [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. +2026-09-21T15:29:06Z [3,454ms] [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. +2026-09-21T15:29:06Z [3,454ms] [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. +[3.470s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:29:06Z [3,458ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.472s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:29:06Z [3,462ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:29:06Z [3,465ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.478s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:29:06Z [3,466ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.479s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:29:06Z [3,469ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.481s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.488s] [ext: omni.isaac.utils-2.0.6] startup +[3.491s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.509s] [ext: isaacsim.app.about-2.0.11] startup +[3.513s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:29:06Z [3,506ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.520s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.523s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:29:06Z [3,513ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:29:06Z [3,513ms] [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. +2026-09-21T15:29:06Z [3,513ms] [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. +2026-09-21T15:29:06Z [3,514ms] [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. +2026-09-21T15:29:06Z [3,514ms] [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. +2026-09-21T15:29:06Z [3,514ms] [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. +2026-09-21T15:29:06Z [3,514ms] [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. +2026-09-21T15:29:06Z [3,516ms] [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. +2026-09-21T15:29:06Z [3,517ms] [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. +2026-09-21T15:29:06Z [3,519ms] [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. +2026-09-21T15:29:06Z [3,519ms] [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. +2026-09-21T15:29:06Z [3,522ms] [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. +[3.535s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:29:06Z [3,543ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:29:06Z [3,545ms] [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. +[3.560s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.575s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:29:06Z [3,563ms] [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. +[3.576s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.590s] [ext: omni.kit.property.audio-1.0.16] startup +[3.593s] [ext: omni.kit.property.camera-1.0.10] startup +[3.595s] [ext: omni.sensors.net-1.0.0] startup +[3.600s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.610s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.614s] [ext: omni.kit.property.light-1.0.12] startup +[3.665s] [ext: omni.kit.property.material-1.11.9] startup +[3.672s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.675s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.678s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.686s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.693s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.698s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.702s] [ext: omni.kit.property.render-1.2.1] startup +[3.703s] [ext: omni.kit.property.transform-1.5.13] startup +[3.708s] [ext: isaacsim.gui.property-1.1.3] startup +[3.710s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.717s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.728s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.738s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.745s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.753s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:29:06Z [3,742ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:29:06Z [3,742ms] [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. +[3.755s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:29:06Z [3,743ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:29:06Z [3,743ms] [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. +[3.756s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.780s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:29:06Z [3,769ms] [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. +2026-09-21T15:29:06Z [3,769ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:29:06Z [3,770ms] [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. +2026-09-21T15:29:06Z [3,770ms] [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. +2026-09-21T15:29:06Z [3,770ms] [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. +2026-09-21T15:29:06Z [3,771ms] [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. +2026-09-21T15:29:06Z [3,771ms] [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. +2026-09-21T15:29:06Z [3,771ms] [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. +2026-09-21T15:29:06Z [3,773ms] [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. +2026-09-21T15:29:06Z [3,773ms] [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. +2026-09-21T15:29:06Z [3,773ms] [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. +[3.786s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:29:06Z [3,776ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.791s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.806s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.810s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.812s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.814s] [ext: omni.ocio-0.1.1] startup +[3.817s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.836s] [ext: omni.kit.window.console-1.1.4] startup +[3.850s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.857s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:29:06Z [3,845ms] [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. +[3.858s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.866s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.878s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.887s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:29:06Z [3,876ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.889s] [ext: semantics.schema.editor-2.0.2] startup +[3.894s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.895s] [ext: semantics.schema.property-2.0.1] startup +[3.897s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:29:06Z [3,885ms] [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. +2026-09-21T15:29:06Z [3,885ms] [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. +2026-09-21T15:29:06Z [3,886ms] [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. +[3.898s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:29:06Z [3,888ms] [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. +2026-09-21T15:29:06Z [3,888ms] [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. +2026-09-21T15:29:06Z [3,888ms] [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. +2026-09-21T15:29:06Z [3,888ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.901s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.913s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.919s] [ext: omni.kit.menu.common-2.0.1] startup +[3.921s] [ext: isaacsim.exp.base-5.1.0] startup +[3.922s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.924s] Simulation App Starting +2026-09-21T15:29:06Z [3,972ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T15:29:06Z [3,995ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.034s] app ready +[7.958s] Simulation App Startup Complete +[8.590s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:29:13Z [10,739ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:29:14Z [11,712ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:16.175] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:16.322] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:30:11Z [68,826ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:30:14Z [71,447ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,447ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,568ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,646ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,646ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,646ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,727ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,727ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,766ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,766ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,767ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,767ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,767ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,767ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,773ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:14Z [71,773ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,553ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,553ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,601ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,601ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,617ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,617ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,622ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,628ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,628ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,774ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,774ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,775ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [72,775ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [73,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [73,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:15Z [73,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:15Z [73,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,191ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,191ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,192ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,192ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:30:16Z [73,283ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:30:17Z [74,236ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:18.965] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:19.004] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:30:25Z [82,795ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:28.108] [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. +[00:01:28.110] [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. +2026-09-21T15:30:26Z [83,679ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:30:26Z [83,680ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:30:26Z [83,681ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:30:26Z [83,682ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:30:29Z [86,528ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:30:42Z [100,091ms] [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 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 360 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 720 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 289, in pick + self.descend_and_close(obj, arm, target[:3, 3], orientation, ref) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 349, in descend_and_close + self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref["q"]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.539 -0.293 0.191] + +2026-09-21T15:36:26Z [443,337ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:26Z [443,337ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:26Z [443,337ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[443.454s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..c020d678ff724f68367301e09db0bda1f3926109 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:699385597d06f5ef2a23bb47868942898d39c7c9fcea55d79e425fb3492109de +size 1170 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..427a63e92accb729dec550c3816ae3d3d4abef7b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51024f2089e86e73939821b875c2dc6ddcc4d4c175a63056c2a9b07d28b7ae7a +size 16300124 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..273d158cc656b67957b81ac5c10b33c88c4c0b63 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48a4034e729f681ee8478bcd04a0646b91c78c0f093de684382a049201ead168 +size 2450701 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/case.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6c620cbcecd859fb20cb09beb8bf42dab55714 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019540-f004201", + "kind": "vla", + "episode_id": "00019540", + "instance_id": 954, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019540.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019540.json", + "frame": 4201, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4201, + 10535 + ], + "reason": "No progress: from f4171 (right release) to end there are no grasp events, head cam is essentially static across f4200-f10500, and detect_pauses flags a 40.8s and a 42.3s freeze covering the final ~83s. Seed at the row's first frame per the no-progress rule. Trash can is on the floor and both hands are empty at this state; following the demo pattern the next action is A1 \u2014 re-pick trash_can_116 with the right arm \u2014 after which the left can go for can_113." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..7188842e80c24e4147996e810cb51bf720f54495 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019540-f004201/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019540-f004201", + "episode_id": "00019540", + "instance_id": 954, + "start_type": "judgement_seed", + "source_frame": 4201, + "attempt": "attempt_001", + "completed_at": 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"video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "observation.robot2cam_pose.zed_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", 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+/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4991 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.873s] [ext: omni.physics.tensors-107.3.26] startup +[1.878s] [ext: omni.warp.core-1.8.2] startup +[2.030s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.032s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T11:06:32Z [2,009ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.038s] [ext: omni.physx.tensors-107.3.26] startup +[2.044s] [ext: isaacsim.core.utils-3.5.1] startup +[2.048s] [ext: omni.graph.image.core-0.6.1] startup +[2.049s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.136s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.138s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.140s] [ext: isaacsim.core.prims-0.6.1] startup +[2.157s] [ext: omni.syntheticdata-0.6.13] startup +[2.177s] [ext: isaacsim.core.api-4.8.0] startup +[2.194s] [ext: omni.videoencoding-0.1.2] startup +[2.198s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.200s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.203s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.204s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.205s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.210s] [ext: omni.graph.nodes-1.170.10] startup +[2.219s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.222s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.225s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T11:06:33Z [2,197ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.226s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.233s] [ext: omni.warp-1.8.2] startup +[2.237s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.254s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.255s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.263s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.290s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T11:06:33Z [2,281ms] [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 +2026-09-20T11:06:33Z [2,388ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T11:06:33Z [2,388ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T11:06:33Z [2,389ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.419s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.422s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.426s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.433s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T11:06:33Z [2,407ms] [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. +[2.437s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.439s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.454s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.458s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.464s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.466s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T11:06:33Z [2,441ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.491s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.499s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T11:06:33Z [2,473ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.502s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T11:06:33Z [2,475ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.504s] [ext: omni.anim.curve.core-1.3.1] startup +[2.532s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T11:06:33Z [2,504ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:06:33Z [2,506ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:06:33Z [2,525ms] [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. +[2.554s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.573s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T11:06:33Z [2,560ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.609s] [ext: omni.kit.selection-0.1.6] startup +[2.613s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.669s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T11:06:33Z [2,645ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,652ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,660ms] [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. +2026-09-20T11:06:33Z [2,688ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,695ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,695ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,695ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,696ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,697ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:06:33Z [2,700ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.738s] [ext: isaacsim.gui.menu-2.4.4] 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. +[2.877s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.898s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.908s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T11:06:33Z [2,881ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.913s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.924s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T11:06:33Z [2,898ms] [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. +2026-09-20T11:06:33Z [2,899ms] [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. +2026-09-20T11:06:33Z [2,899ms] [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. +2026-09-20T11:06:33Z [2,899ms] [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. +2026-09-20T11:06:33Z [2,899ms] [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. +2026-09-20T11:06:33Z [2,902ms] [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. +2026-09-20T11:06:33Z [2,903ms] [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. +2026-09-20T11:06:33Z [2,903ms] [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. +2026-09-20T11:06:33Z [2,903ms] [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. +2026-09-20T11:06:33Z [2,904ms] [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. +2026-09-20T11:06:33Z [2,906ms] [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. +2026-09-20T11:06:33Z [2,906ms] [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. +2026-09-20T11:06:33Z [2,906ms] [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. +2026-09-20T11:06:33Z [2,907ms] [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. +2026-09-20T11:06:33Z [2,907ms] [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. +2026-09-20T11:06:33Z [2,907ms] [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. +[2.936s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T11:06:33Z [2,911ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.941s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T11:06:33Z [2,916ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T11:06:33Z [2,917ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.946s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T11:06:33Z [2,918ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.948s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T11:06:33Z [2,921ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.950s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.959s] [ext: omni.isaac.utils-2.0.6] startup +[2.961s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.982s] [ext: isaacsim.app.about-2.0.11] startup +[2.986s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T11:06:33Z [2,959ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.989s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.992s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T11:06:33Z [2,966ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T11:06:33Z [2,966ms] [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. +2026-09-20T11:06:33Z [2,967ms] [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. +2026-09-20T11:06:33Z [2,968ms] [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. +2026-09-20T11:06:33Z [2,968ms] [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. +2026-09-20T11:06:33Z [2,969ms] [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. +2026-09-20T11:06:33Z [2,969ms] [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. +2026-09-20T11:06:33Z [2,969ms] [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. +2026-09-20T11:06:33Z [2,969ms] [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. +2026-09-20T11:06:33Z [2,970ms] [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. +2026-09-20T11:06:33Z [2,971ms] [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. +2026-09-20T11:06:33Z [2,973ms] [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. +[3.003s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T11:06:33Z [2,983ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T11:06:33Z [2,983ms] [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. +[3.015s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.025s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T11:06:33Z [2,999ms] [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. +[3.028s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.039s] [ext: omni.kit.property.audio-1.0.16] startup +[3.044s] [ext: omni.kit.property.camera-1.0.10] startup +[3.045s] [ext: omni.sensors.net-1.0.0] startup +[3.048s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.053s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.057s] [ext: omni.kit.property.light-1.0.12] startup +[3.094s] [ext: omni.kit.property.material-1.11.9] startup +[3.098s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.099s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.101s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.106s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.112s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.116s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.118s] [ext: omni.kit.property.render-1.2.1] startup +[3.120s] [ext: omni.kit.property.transform-1.5.13] startup +[3.122s] [ext: isaacsim.gui.property-1.1.3] startup +[3.124s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.129s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.134s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.140s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.143s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.145s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T11:06:34Z [3,117ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T11:06:34Z [3,117ms] [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. +[3.146s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T11:06:34Z [3,118ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T11:06:34Z [3,118ms] [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. +[3.149s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.163s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,136ms] [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. +2026-09-20T11:06:34Z [3,138ms] [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. +2026-09-20T11:06:34Z [3,138ms] [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. +2026-09-20T11:06:34Z [3,138ms] [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. +[3.167s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T11:06:34Z [3,141ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.170s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.174s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.184s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.186s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.188s] [ext: omni.ocio-0.1.1] startup +[3.191s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.199s] [ext: omni.kit.window.console-1.1.4] startup +[3.204s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.212s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T11:06:34Z [3,183ms] [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. +[3.212s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.217s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.220s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.230s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T11:06:34Z [3,202ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.231s] [ext: semantics.schema.editor-2.0.2] startup +[3.235s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.236s] [ext: semantics.schema.property-2.0.1] startup +[3.237s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T11:06:34Z [3,209ms] [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. +2026-09-20T11:06:34Z [3,209ms] [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. +2026-09-20T11:06:34Z [3,210ms] [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. +[3.238s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T11:06:34Z [3,211ms] [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. +2026-09-20T11:06:34Z [3,211ms] [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. +2026-09-20T11:06:34Z [3,211ms] [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. +2026-09-20T11:06:34Z [3,211ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.240s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.248s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.254s] [ext: omni.kit.menu.common-2.0.1] startup +[3.255s] [ext: isaacsim.exp.base-5.1.0] startup +[3.256s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.257s] Simulation App Starting +2026-09-20T11:06:34Z [3,271ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T11:06:34Z [3,291ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.346s] app ready +[5.277s] Simulation App Startup Complete +[5.581s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T11:06:36Z [5,646ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T11:06:37Z [6,545ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.218] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.317] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T11:07:30Z [59,251ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:07:32Z [61,516ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T11:07:32Z [61,849ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,849ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,850ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:32Z [61,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,034ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,034ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,077ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,077ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,078ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,122ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,203ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,203ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,210ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,210ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,912ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,912ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,916ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,917ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:33Z [62,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,406ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:07:34Z [63,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:08.277] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:08.315] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T11:07:42Z [72,013ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:16.414] [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. +[00:01:16.417] [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. +2026-09-20T11:07:43Z [72,781ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:07:43Z [72,782ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:07:43Z [72,783ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:07:43Z [72,784ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:07:46Z [75,320ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T11:07:52Z [81,090ms] [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 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 720 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-20T11:10:39Z [248,781ms] [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 +RECOVERY progress 840 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:13:11Z [400,669ms] [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 1560 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1680 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1800 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1920 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2040 release_into_aligned_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:17:16Z [645,856ms] [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 3000 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3120 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3240 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3360 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3480 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3600 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3720 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3840 retract_hand_after_release {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3960 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4080 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4440 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:21:57Z [926,710ms] [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 4560 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4680 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4800 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4920 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5040 release_into_aligned_bin {'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 +2026-09-20T11:23:11Z [1,000,872ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:23:11Z [1,000,872ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:23:11Z [1,000,872ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1000.994s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..0afe39d6ca1bb6c368378de26167286012e82f59 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2b192c937d7a250c4b9d81c56bfa2914c8622e6c992000c3c30fdbf4d0c92a3 +size 5119 diff --git 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Seed at f0 restarts the episode at its intended start, which every demo begins from." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe9e9020e43b86b2f1333ff36e9498aba012744 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019550-f000000", + "episode_id": "00019550", + "instance_id": 955, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-20T11:27:49+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 5137, + 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"right", "actual_xyz": [5.251444339752197, 6.944088935852051, 0.40584319829940796], "desired_xyz": [5.249535399648358, 6.950194996622394, 0.4039370548725127], "error_m": 0.00667543356008199} +{"step": 4490, "event": "catch_alignment", "horizontal_error_m": 0.038869447915882295, "clearance_m": 0.07717961072921753, "speed_m_s": 0.016108134554939625, "footprint": {"fits": true, "max_normalized_radius": 0.8738558240555468, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}} +{"step": 4490, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": "trash_can_116"}, "eef_world": {"left": [[5.131042003631592, 6.951614856719971, 0.5717653632164001], [-0.6530714631080627, 0.7569903135299683, -0.021486796438694, -0.0013301412109285593]], "right": [[5.252705097198486, 6.943828582763672, 0.40526995062828064], [-0.7234306931495667, 0.6610527038574219, 0.18407222628593445, 0.07599205523729324]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.180702209472656, 6.94653844833374, 0.2424388825893402], "can__of__soda.n.01_1": [5.120375156402588, 6.9525556564331055, 0.543253481388092], "can__of__soda.n.01_3": [5.128257751464844, 6.892877578735352, 0.2234456092119217], "ashcan.n.01_1": [5.149266719818115, 6.925093650817871, 0.2890077233314514]}, "robot_pose": [[5.000830173492432, 6.298545837402344, 0.0052852630615234375], [-5.74309378862381e-05, 5.7209668739233166e-05, 0.6421536803245544, 0.7665761113166809]]}} +{"step": 4555, "event": "catch_verified", "object": "can_of_soda_115"} +{"step": 4555, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.131042003631592, 6.951655387878418, 0.57164067029953], [-0.6530734896659851, 0.7569869160652161, -0.02154158614575863, -0.0014334447914734483]], "right": [[5.255912780761719, 6.943044662475586, 0.40376827120780945], [-0.7288858890533447, 0.6563073396682739, 0.1771876960992813, 0.08118242770433426]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.1872382164001465, 6.944830417633057, 0.23945870995521545], "can__of__soda.n.01_1": [5.1076250076293945, 6.947225570678711, 0.31241732835769653], "can__of__soda.n.01_3": [5.135897636413574, 6.890502452850342, 0.21965152025222778], "ashcan.n.01_1": [5.155117034912109, 6.923137187957764, 0.2854997217655182]}, "robot_pose": [[5.000830173492432, 6.298545837402344, 0.0052852630615234375], [-5.737505853176117e-05, 5.6950757425511256e-05, 0.642153799533844, 0.7665759921073914]]}} +{"step": 4555, "event": "eef_target", "arm": "left", "body_xyz": [0.6657308141921008, 0.030847189534261285, 0.5664623947010088], "world_xyz": [5.087155680288595, 6.959468615539406, 0.5716400095706475], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4555, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4555, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4551272356088252, -0.431372994399957, 0.03537513728745845], [0.335849074112922, 0.39441587151192914, 0.4109087153907196]]} +{"step": 4574, "event": "joint_tracking", "max_error_rad": 0.006780147552490234} +{"step": 4574, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.087195873260498, 6.959629058837891, 0.5713616013526917], "desired_xyz": [5.087155680288595, 6.959468615539406, 0.5716400095706475], "error_m": 0.00032383431387712227} +{"step": 4574, "event": "eef_target", "arm": "left", "body_xyz": [0.6657299026334424, 0.07541679740531693, 0.5664621221942008], "world_xyz": [5.0432693569456, 6.967281843200394, 0.5716393488417648], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4574, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4574, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.45512547428165434, -0.43136983101184434, 0.03537542469064499], [0.3358447365913536, 0.39441351361234417, 0.41090854804570426]]} +{"step": 4593, "event": "joint_tracking", "max_error_rad": 0.006703495979309082} +{"step": 4593, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.043304443359375, 6.967395782470703, 0.571455180644989], "desired_xyz": [5.0432693569456, 6.967281843200394, 0.5716393488417648], "error_m": 0.00021938810007355312} +{"step": 4593, "event": "eef_target", "arm": "left", "body_xyz": [0.665730211946821, 0.11999339725341748, 0.5664620705223997], "world_xyz": [4.999383033602603, 6.975095070861382, 0.5716386881128822], "held": {"left": null, "right": "trash_can_116"}} +{"step": 4593, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4593, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.45512505287996496, -0.4313697546934798, 0.0353753695082732], [0.335844793999833, 0.3944135565445437, 0.41090854170098334]]} +{"step": 4612, "event": "joint_tracking", "max_error_rad": 0.005840182304382324} +{"step": 4612, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.9997429847717285, 6.975059986114502, 0.5714945197105408], "desired_xyz": [4.999383033602603, 6.975095070861382, 0.5716386881128822], "error_m": 0.0003893331630518467} +{"step": 4612, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 4000, "end": 4612} +{"step": 4612, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.9997429847717285, 6.975059986114502, 0.5714945197105408], [-0.6556286811828613, 0.7548255324363708, -0.019634893164038658, -0.0020024189725518227]], "right": [[5.260342597961426, 6.94193172454834, 0.401424378156662], [-0.7371017932891846, 0.6488933563232422, 0.16710218787193298, 0.08772315084934235]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.196209907531738, 6.941892147064209, 0.23471400141716003], "can__of__soda.n.01_1": [5.111125469207764, 6.937477111816406, 0.3012377917766571], "can__of__soda.n.01_3": [5.147812843322754, 6.885617256164551, 0.2148241251707077], "ashcan.n.01_1": [5.163200855255127, 6.92000675201416, 0.28049612045288086]}, "robot_pose": [[5.000823497772217, 6.29856014251709, 0.005285322666168213], [-5.720742046833038e-05, 5.696944936062209e-05, 0.6421725749969482, 0.7665601372718811]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..2cd4d8a7a6c0e10b5f63c2ca6e85dce5d9b8dcd2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4496 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.112s] [ext: omni.physics.tensors-107.3.26] startup +[2.116s] [ext: omni.warp.core-1.8.2] startup +[2.224s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.226s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:34:54Z [2,203ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.232s] [ext: omni.physx.tensors-107.3.26] startup +[2.237s] [ext: isaacsim.core.utils-3.5.1] startup +[2.240s] [ext: omni.graph.image.core-0.6.1] startup +[2.242s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.318s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.321s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.322s] [ext: isaacsim.core.prims-0.6.1] startup +[2.337s] [ext: omni.syntheticdata-0.6.13] startup +[2.348s] [ext: isaacsim.core.api-4.8.0] startup +[2.362s] [ext: omni.videoencoding-0.1.2] startup +[2.366s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.367s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.369s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.370s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.370s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.376s] [ext: omni.graph.nodes-1.170.10] startup +[2.391s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.394s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.399s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:34:55Z [2,370ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.400s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.408s] [ext: omni.warp-1.8.2] startup +[2.417s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.436s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.439s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.464s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.523s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:34:55Z [2,504ms] [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 +2026-09-21T15:34:55Z [2,577ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:34:55Z [2,577ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:34:55Z [2,578ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.609s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.613s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.619s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.627s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:34:55Z [2,600ms] [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. +[2.631s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.642s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.763s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.778s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.817s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.820s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:34:55Z [2,796ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.870s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.872s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:34:55Z [2,853ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.892s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:34:55Z [2,875ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.905s] [ext: omni.anim.curve.core-1.3.1] 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. +[3.011s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:34:55Z [2,984ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:34:55Z [2,984ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:34:55Z [2,997ms] [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. +[3.026s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.033s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:34:55Z [3,005ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.035s] [ext: omni.kit.selection-0.1.6] startup +[3.036s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.044s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:34:55Z [3,016ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,016ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,018ms] [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. +2026-09-21T15:34:55Z [3,018ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,019ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,019ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,019ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,019ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,019ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:34:55Z [3,020ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.049s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.060s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.071s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.076s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:34:55Z [3,049ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.079s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.087s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:34:55Z [3,060ms] [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. +2026-09-21T15:34:55Z [3,060ms] [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. +2026-09-21T15:34:55Z [3,060ms] [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. +2026-09-21T15:34:55Z [3,061ms] [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. +2026-09-21T15:34:55Z [3,061ms] [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. +2026-09-21T15:34:55Z [3,061ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,063ms] [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. +2026-09-21T15:34:55Z [3,064ms] [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. +2026-09-21T15:34:55Z [3,064ms] [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. +2026-09-21T15:34:55Z [3,064ms] [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. +[3.093s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:34:55Z [3,065ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.095s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:34:55Z [3,068ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:34:55Z [3,069ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.098s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:34:55Z [3,070ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.100s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:34:55Z [3,073ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.102s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.114s] [ext: omni.isaac.utils-2.0.6] startup +[3.116s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.125s] [ext: isaacsim.app.about-2.0.11] startup +[3.127s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:34:55Z [3,099ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.129s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.130s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:34:55Z [3,102ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:34:55Z [3,102ms] [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. +2026-09-21T15:34:55Z [3,103ms] [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. +2026-09-21T15:34:55Z [3,103ms] [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. +2026-09-21T15:34:55Z [3,103ms] [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. +2026-09-21T15:34:55Z [3,103ms] [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. +2026-09-21T15:34:55Z [3,103ms] [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. +2026-09-21T15:34:55Z [3,104ms] [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. +2026-09-21T15:34:55Z [3,106ms] [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. +2026-09-21T15:34:55Z [3,106ms] [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. +2026-09-21T15:34:55Z [3,107ms] [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. +2026-09-21T15:34:55Z [3,107ms] [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. +[3.137s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:34:55Z [3,112ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:34:55Z [3,112ms] [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. +[3.143s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.149s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:34:55Z [3,120ms] [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. +[3.149s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.162s] [ext: omni.kit.property.audio-1.0.16] startup +[3.165s] [ext: omni.kit.property.camera-1.0.10] startup +[3.167s] [ext: omni.sensors.net-1.0.0] startup +[3.170s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.174s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.177s] [ext: omni.kit.property.light-1.0.12] startup +[3.217s] [ext: omni.kit.property.material-1.11.9] startup +[3.224s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.226s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.227s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.233s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.239s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.244s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.247s] [ext: omni.kit.property.render-1.2.1] startup +[3.248s] [ext: omni.kit.property.transform-1.5.13] startup +[3.251s] [ext: isaacsim.gui.property-1.1.3] startup +[3.253s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.259s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.264s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.272s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.275s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.280s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:34:55Z [3,252ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:34:55Z [3,252ms] [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. +[3.281s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:34:55Z [3,252ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:34:55Z [3,252ms] [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. +[3.282s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.293s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:34:55Z [3,265ms] [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. +2026-09-21T15:34:55Z [3,265ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:34:55Z [3,265ms] [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. +2026-09-21T15:34:55Z [3,265ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,266ms] [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. +2026-09-21T15:34:55Z [3,267ms] [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. +[3.296s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:34:55Z [3,269ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.298s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.308s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.311s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.315s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.317s] [ext: omni.ocio-0.1.1] startup +[3.321s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.333s] [ext: omni.kit.window.console-1.1.4] startup +[3.341s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.347s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:34:56Z [3,319ms] [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. +[3.348s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.355s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.358s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.371s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:34:56Z [3,343ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.373s] [ext: semantics.schema.editor-2.0.2] startup +[3.378s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.380s] [ext: semantics.schema.property-2.0.1] startup +[3.381s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:34:56Z [3,352ms] [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. +2026-09-21T15:34:56Z [3,352ms] [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. +2026-09-21T15:34:56Z [3,353ms] [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. +[3.382s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:34:56Z [3,356ms] [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. +2026-09-21T15:34:56Z [3,356ms] [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. +2026-09-21T15:34:56Z [3,356ms] [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. +2026-09-21T15:34:56Z [3,356ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.385s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.394s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.399s] [ext: omni.kit.menu.common-2.0.1] startup +[3.402s] [ext: isaacsim.exp.base-5.1.0] startup +[3.402s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.403s] Simulation App Starting +2026-09-21T15:34:56Z [3,691ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.755s] app ready +[5.996s] Simulation App Startup Complete +[6.286s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:34:59Z [6,413ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:35:00Z [7,392ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.174] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.942] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:35:49Z [56,399ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:35:51Z [58,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,709ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,709ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,709ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,709ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [58,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,079ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,079ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,079ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,079ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:51Z [59,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,908ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,909ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,909ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,909ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,963ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,963ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,981ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,981ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,987ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [59,987ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [60,149ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [60,149ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:52Z [60,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:52Z [60,150ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,455ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,455ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,456ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,540ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:35:53Z [60,540ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:35:54Z [61,378ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:05.430] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:05.467] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:36:03Z [71,001ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:15.577] [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. +[00:01:15.580] [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. +2026-09-21T15:36:04Z [71,826ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:04Z [71,827ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:04Z [71,828ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:04Z [71,829ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:36:07Z [74,562ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:36:08Z [75,941ms] [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 +2026-09-21T15:36:10Z [78,098ms] [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 +2026-09-21T15:37:27Z [154,867ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 720 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1080 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +2026-09-21T15:40:43Z [351,267ms] [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 +RECOVERY progress 1200 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 human_carry_pose_for_pick {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 human_carry_pose_for_pick {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-21T15:44:37Z [584,919ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-21T15:44:37Z [584,947ms] [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 2640 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2760 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 2880 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3000 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3120 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3240 retract_hand_after_release {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 human_carry_pose_for_pick {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3600 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3720 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3840 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-21T15:48:33Z [820,991ms] [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 3960 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4080 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4200 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4320 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4440 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4560 retract_hand_after_release {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-21T15:49:57Z [905,142ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:49:57Z [905,142ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:49:57Z [905,142ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[905.258s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..a2726bb2e0966128a686e089e60e1ff0fb976d7e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f000652/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version 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"soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2207, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2247, "event": "joint_tracking", "max_error_rad": 0.002552662743255496} +{"step": 2247, "event": "eef_tracking", "arm": "right", "actual_xyz": [3.0801749229431152, 2.2485368251800537, 0.34362900257110596], "desired_xyz": [3.080450291181917, 2.24834134199899, 0.34372319062930373], "error_m": 0.00035058912037704525} +{"step": 2247, "event": "pre_release_alignment", "error_m": 0.0004145849925455257, "actual": [3.0952396392822266, 2.222660779953003, 0.295274943113327], "target": [3.095556267293017, 2.222393146960218, 0.2954206854104996]} +{"step": 2267, "event": "grounded_drop_check", "footprint": {"fits": true, "max_normalized_radius": 0.8840514008552272, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 60, "hypothetical_centering": false}, "upright": false, "clearance_m": 0.023937106132507324, "speed_m_s": 0.01654545421577564, "others_inside": true} +{"step": 2267, "event": "eef_target", "arm": "right", "body_xyz": [0.588466013266495, -0.20647709462015337, 0.3135297547438167], "world_xyz": [3.080450291181917, 2.24834134199899, 0.31872319062930393], "held": {"left": null, "right": "can_of_soda_113"}} +{"step": 2267, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2267, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2290, "event": "joint_tracking", "max_error_rad": 0.027857065200805664} +{"step": 2290, "event": "eef_tracking", "arm": "right", "actual_xyz": [3.073647975921631, 2.23921537399292, 0.32569363713264465], "desired_xyz": [3.080450291181917, 2.24834134199899, 0.31872319062930393], "error_m": 0.013346981284323144} +{"step": 2290, "event": "eef_target", "arm": "right", "body_xyz": [0.5885910796434815, -0.20631718077074734, 0.2882508626306417], "world_xyz": [3.0804502911819176, 2.24834134199899, 0.29372319062930374], "held": {"left": null, "right": "can_of_soda_113"}} +{"step": 2290, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2290, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2313, "event": "joint_tracking", "max_error_rad": 0.11631399393081665} +{"step": 2321, "event": "eef_tracking", "arm": "right", "actual_xyz": [3.0593669414520264, 2.208806037902832, 0.3218584954738617], "desired_xyz": [3.0804502911819176, 2.24834134199899, 0.29372319062930374], "error_m": 0.05290693040145866} +{"step": 2321, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_113/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_113/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}], "actual_q": [-2.657532215118408, -0.7454290390014648, 0.014305614866316319, -0.009744147770106792, 0.002057567471638322, -1.4798256158828735, 1.3562848567962646, -2.0763373374938965, -1.195609211921692, 0.15266162157058716, -0.8230863213539124, -0.5951117277145386, -0.11110427975654602, -0.14181241393089294, -0.11463765054941177, -0.010921007953584194, -0.9616760015487671, -0.7416054606437683, 0.2616754174232483, 0.012298725545406342, 1.0471880435943604, 0.5299782156944275, 0.10637009888887405, 0.2934187352657318, 0.04999935254454613, 0.04999993368983269, 0.04999076947569847, 0.027223872020840645]} +{"step": 2321, "event": "actions_rejected", "start": 2290, "end": 2321, "reason": "eef_execution_blocked"} +{"step": 2321, "event": "primitive_failure", "operation": "deposit:can_of_soda_113", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..6a45e89b4031a000dfbb50e41300ddc1baa3058e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2321 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 703, in deposit\n self.r.eef_world(arm, target[:3, 3], quat, steps=18)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 412, in _eef_world_once\n raise RecoveryFailure(\"eef_execution_blocked\")\ntask01_recovery.control.RecoveryFailure: eef_execution_blocked\n", + "steps": 2321, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": true, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": "can_of_soda_113" + }, + "eef_world": { + "left": [ + [ + 3.38413143157959, + 1.9350205659866333, + 0.466724693775177 + ], + [ + 0.8482877016067505, + 0.5092096924781799, + -0.14529146254062653, + 0.001985533395782113 + ] + ], + "right": [ + [ + 3.0593669414520264, + 2.208806037902832, + 0.3218584954738617 + ], + [ + 0.8214033246040344, + 0.5358914136886597, + -0.08555096387863159, + 0.17549356818199158 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 3.071833848953247, + 2.178325891494751, + 0.275554895401001 + ], + "can__of__soda.n.01_2": [ + 3.03971004486084, + 2.266051769256592, + 0.0427110530436039 + ], + "can__of__soda.n.01_1": [ + 4.898885726928711, + 7.057982921600342, + 0.07145725935697556 + ], + "ashcan.n.01_1": [ + 3.049852132797241, + 2.2396109104156494, + 0.09301237016916275 + ] + }, + "robot_pose": [ + [ + 3.5801947116851807, + 2.6213443279266357, + 0.005285292863845825 + ], + [ + 6.74910843372345e-05, + 4.401889236760326e-05, + -0.8829236626625061, + 0.4695166349411011 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 641 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..47e6249c7e3c13e9920f3a1796a11fcb6bca0fe2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45f034939ec5234d09db3d9a2754ee9f100e71a6ebaa373788b62fc884180292 +size 504274 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..3b0c3715df72f524bcad087b62a4c70cc2e8cebb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/run.log @@ -0,0 +1,654 @@ +RECOVERY building environment +[00:00:04.222] [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_20260922_133142.log +[0.091s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.367s] [ext: omni.metrics.core-0.0.3] startup +[0.368s] [ext: omni.client.lib-1.1.0] startup +[0.383s] [ext: omni.blobkey-1.1.2] startup +[0.383s] [ext: omni.stats-1.0.1] startup +[0.384s] [ext: omni.datastore-0.0.0] startup +[0.391s] [ext: omni.client-1.3.0] startup +[0.394s] [ext: omni.ujitso.default-1.0.0] startup +[0.395s] [ext: omni.hsscclient-1.1.2] startup +[0.456s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.458s] [ext: omni.assets.plugins-0.0.0] startup +[0.459s] [ext: omni.gpu_foundation-0.0.0] startup +[0.474s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T05:31:43Z [410ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:43Z [411ms] [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) +[0.476s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T05:31:43Z [436ms] [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: 46998 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T05:31:43Z [1,243ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.446s] [ext: omni.materialx.libs-1.0.7] startup +[1.454s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.455s] [ext: omni.kit.test-2.0.1] startup +[1.479s] [ext: omni.usd.config-1.0.6] startup +[1.483s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.484s] [ext: omni.usd.libs-1.0.1] startup +[1.660s] [ext: omni.kit.telemetry-0.5.2] startup +[1.684s] [ext: omni.mdl-56.0.3] startup +[1.706s] [ext: omni.iray.libs-0.0.0] startup +[1.714s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.717s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.818s] [ext: omni.kit.pipapi-0.0.0] startup +[1.819s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T05:31:44Z [1,755ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,755ms] [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) +[1.823s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T05:31:44Z [1,771ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,771ms] [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) +2026-09-22T05:31:44Z [1,778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,778ms] [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) +[1.845s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.849s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T05:31:44Z [1,790ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,790ms] [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) +2026-09-22T05:31:44Z [1,791ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,791ms] [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) +2026-09-22T05:31:44Z [1,792ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:31:44Z [1,792ms] [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) +[1.904s] [ext: omni.ui-2.27.1] startup +[1.913s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.914s] [ext: carb.audio-0.1.0] startup +[1.919s] [ext: omni.uiaudio-1.0.0] startup +[1.920s] [ext: omni.kit.uiapp-0.0.0] startup +[1.920s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.922s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.926s] [ext: omni.usd_resolver-1.0.0] startup +[1.932s] [ext: omni.usd.core-1.5.3] startup +[1.938s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.960s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.986s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.989s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.993s] [ext: omni.kit.actions.core-1.0.0] startup +[1.996s] [ext: omni.activity.core-1.0.3] startup +[1.997s] [ext: omni.kit.commands-1.4.10] startup +[2.001s] [ext: usdrt.scenegraph-7.6.1] startup +[2.035s] [ext: omni.resourcemonitor-107.0.1] startup +[2.038s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.039s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.049s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.050s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.053s] [ext: omni.graph.exec-0.9.6] startup +[2.053s] [ext: omni.timeline-1.0.14] startup +[2.055s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.058s] [ext: omni.kit.exec.core-0.13.4] startup +[2.060s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.067s] [ext: omni.usd-1.13.10] startup +[2.098s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.117s] [ext: omni.usd.schema.isaac-3.0.5] startup +[2.117s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.123s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.132s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.138s] [ext: omni.usd.schema.flow-107.1.1] startup +[2.138s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.139s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.175s] [ext: omni.inspect-1.0.2] startup +[2.177s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.178s] [ext: omni.graph.core-2.184.5] startup +[2.182s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.182s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.183s] [ext: omni.anim.graph.schema-107.3.3] startup +[2.190s] [ext: omni.anim.navigation.schema-107.3.3] startup +[2.193s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.194s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.197s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.198s] [ext: omni.kit.clipboard-1.0.5] startup +[2.198s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.207s] [ext: omni.ui.scene-1.11.5] startup +[2.210s] [ext: omni.index.libs-380600.8087.0] startup +[2.210s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.216s] [ext: omni.index-1.0.1] startup +[2.217s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.218s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.221s] [ext: omni.volume-0.5.2] startup +[2.224s] [ext: omni.ujitso.client-0.0.0] startup +[2.225s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.226s] [ext: omni.kit.menu.core-1.1.2] startup +[2.227s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T05:31:44Z [2,191ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.284s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.285s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.290s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.291s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.295s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.305s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.311s] [ext: omni.kit.context_menu-1.8.6] startup +[2.312s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.316s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.317s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.318s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.325s] [ext: omni.kit.material.library-2.0.7] startup +[2.330s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.330s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.333s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.347s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[2.348s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.349s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.350s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.351s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.351s] [ext: omni.kit.browser.core-2.3.13] startup +[2.355s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.356s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.368s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.373s] [ext: omni.kit.window.file-2.0.5] startup +[2.376s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.376s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.377s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.379s] [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 +[2.401s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.409s] [ext: omni.kit.usdz_export-1.0.9] startup +[2.411s] [ext: omni.graph.action_core-1.1.7] startup +[2.412s] [ext: omni.graph-1.141.2] startup +[2.445s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[2.446s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[2.451s] [ext: omni.graph.action_nodes-1.50.4] startup +[2.457s] [ext: omni.kit.window.stage-2.6.1] startup +[2.463s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.464s] [ext: omni.graph.action-1.130.0] startup +[2.465s] [ext: omni.kit.menu.stage-1.2.7] startup +[2.466s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.471s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.474s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.481s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.487s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.490s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.491s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.492s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.504s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.505s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.507s] [ext: omni.kit.window.property-1.12.1] startup +[2.509s] [ext: omni.ui_query-1.1.8] startup +[2.510s] [ext: omni.kit.property.usd-4.5.12] startup +[2.521s] [ext: omni.kit.menu.create-2.0.1] startup +[2.522s] [ext: isaacsim.core.version-2.0.6] startup +[2.523s] [ext: omni.kit.ui_test-1.3.7] startup +[2.525s] [ext: omni.kit.scripting-107.3.2] startup +[2.529s] [ext: omni.convexdecomposition-107.3.26] startup +[2.532s] [ext: isaacsim.storage.native-1.5.1] startup +[2.534s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.542s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.546s] [ext: omni.kvdb-107.3.26] startup +[2.547s] [ext: omni.usdphysics-107.3.26] startup +[2.550s] [ext: omni.physx.foundation-107.3.26] startup +[2.552s] [ext: omni.localcache-107.3.26] startup +[2.553s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.559s] [ext: omni.physx.cooking-107.3.26] startup +[2.562s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.564s] [ext: omni.physx-107.3.26] startup +[2.573s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.580s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.581s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.586s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.594s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.595s] [ext: isaacsim.gui.components-1.2.1] startup +[2.599s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.602s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.685s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.691s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.697s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.703s] [ext: omni.fabric.commands-1.1.6] startup +[2.706s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.708s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.709s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.720s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.721s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.721s] [ext: omni.debugdraw-0.1.4] startup +[2.726s] [ext: omni.physics-107.3.26] startup +[2.729s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.747s] [ext: omni.physx.commands-107.3.26] startup +[2.751s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.753s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.755s] [ext: omni.physx.ui-107.3.26] startup +[2.786s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.795s] [ext: omni.physx.supportui-107.3.26] startup +[2.813s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.815s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.817s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.821s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T05:31:45Z [2,757ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.823s] [ext: omni.physics.tensors-107.3.26] startup +[2.827s] [ext: omni.warp.core-1.8.2] startup +[2.952s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.955s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T05:31:45Z [2,900ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.966s] [ext: omni.physx.tensors-107.3.26] startup +[2.975s] [ext: isaacsim.core.utils-3.5.1] startup +[2.978s] [ext: omni.graph.image.core-0.6.1] startup +[2.980s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.065s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.066s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.069s] [ext: isaacsim.core.prims-0.6.1] startup +[3.087s] [ext: omni.syntheticdata-0.6.13] startup +[3.100s] [ext: isaacsim.core.api-4.8.0] startup +[3.119s] [ext: omni.videoencoding-0.1.2] startup +[3.123s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.124s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.128s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.129s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.130s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.136s] [ext: omni.graph.nodes-1.170.10] startup +[3.149s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.153s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.159s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T05:31:45Z [3,094ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.160s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.174s] [ext: omni.warp-1.8.2] startup +[3.182s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.196s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.198s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.208s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.248s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T05:31:45Z [3,202ms] [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 +2026-09-22T05:31:46Z [3,370ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T05:31:46Z [3,370ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T05:31:46Z [3,370ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.438s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.442s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.447s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.456s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T05:31:46Z [3,392ms] [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. +[3.459s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.465s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.512s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.591s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.611s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.613s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T05:31:46Z [3,552ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.635s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.660s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T05:31:46Z [3,598ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.680s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T05:31:46Z [3,635ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.701s] [ext: omni.anim.curve.core-1.3.1] 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. +[3.822s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T05:31:46Z [3,759ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:31:46Z [3,759ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:31:46Z [3,777ms] [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. +[3.843s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.853s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T05:31:46Z [3,789ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.854s] [ext: omni.kit.selection-0.1.6] startup +[3.856s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.866s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T05:31:46Z [3,801ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,802ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,802ms] [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. +2026-09-22T05:31:46Z [3,803ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,803ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,804ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,804ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,804ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,804ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:31:46Z [3,804ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.870s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.882s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.891s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.900s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T05:31:46Z [3,836ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.903s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.908s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T05:31:46Z [3,844ms] [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. +2026-09-22T05:31:46Z [3,844ms] [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. +2026-09-22T05:31:46Z [3,846ms] [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. +2026-09-22T05:31:46Z [3,847ms] [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. +2026-09-22T05:31:46Z [3,847ms] [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. +2026-09-22T05:31:46Z [3,847ms] [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. +2026-09-22T05:31:46Z [3,847ms] [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. +2026-09-22T05:31:46Z [3,848ms] [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. +2026-09-22T05:31:46Z [3,849ms] [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. +2026-09-22T05:31:46Z [3,849ms] [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. +2026-09-22T05:31:46Z [3,849ms] [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. +2026-09-22T05:31:46Z [3,849ms] [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. +2026-09-22T05:31:46Z [3,849ms] [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. +2026-09-22T05:31:46Z [3,850ms] [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. +2026-09-22T05:31:46Z [3,850ms] [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. +2026-09-22T05:31:46Z [3,850ms] [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. +[3.917s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T05:31:46Z [3,854ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.921s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T05:31:46Z [3,858ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T05:31:46Z [3,860ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.929s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T05:31:46Z [3,865ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.931s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T05:31:46Z [3,867ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.933s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.938s] [ext: omni.isaac.utils-2.0.6] startup +[3.940s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.950s] [ext: isaacsim.app.about-2.0.11] startup +[3.954s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T05:31:46Z [3,890ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.955s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.957s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T05:31:46Z [3,893ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T05:31:46Z [3,894ms] [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. +2026-09-22T05:31:46Z [3,895ms] [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. +2026-09-22T05:31:46Z [3,896ms] [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. +2026-09-22T05:31:46Z [3,896ms] [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. +2026-09-22T05:31:46Z [3,897ms] [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. +2026-09-22T05:31:46Z [3,897ms] [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. +2026-09-22T05:31:46Z [3,897ms] [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. +2026-09-22T05:31:46Z [3,898ms] [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. +2026-09-22T05:31:46Z [3,898ms] [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. +2026-09-22T05:31:46Z [3,898ms] [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. +2026-09-22T05:31:46Z [3,904ms] [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. +[3.970s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T05:31:46Z [3,911ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T05:31:46Z [3,911ms] [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. +[3.977s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.983s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T05:31:46Z [3,918ms] [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. +[3.983s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.993s] [ext: omni.kit.property.audio-1.0.16] startup +[3.995s] [ext: omni.kit.property.camera-1.0.10] startup +[3.996s] [ext: omni.sensors.net-1.0.0] startup +[4.000s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.006s] [ext: omni.kit.property.geometry-2.0.4] startup +[4.009s] [ext: omni.kit.property.light-1.0.12] startup +[4.059s] [ext: omni.kit.property.material-1.11.9] startup +[4.066s] [ext: omni.sensors.nv.ids-2.0.0] startup +[4.069s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[4.072s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[4.080s] [ext: omni.hydra.scene_api-0.1.2] startup +[4.087s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.092s] [ext: omni.sensors.nv.radar-3.0.0] startup +[4.096s] [ext: omni.kit.property.render-1.2.1] startup +[4.098s] [ext: omni.kit.property.transform-1.5.13] startup +[4.102s] [ext: isaacsim.gui.property-1.1.3] startup +[4.104s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.112s] [ext: isaacsim.sensors.camera-1.3.6] startup +[4.120s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[4.130s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.135s] [ext: omni.kit.property.bundle-1.4.1] startup +[4.139s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T05:31:46Z [4,075ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T05:31:46Z [4,075ms] [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. +[4.140s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T05:31:46Z [4,076ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T05:31:46Z [4,076ms] [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. +[4.142s] [ext: isaacsim.replicator.writers-1.0.17] startup +[4.158s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T05:31:46Z [4,094ms] [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. +2026-09-22T05:31:46Z [4,094ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T05:31:46Z [4,095ms] [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. +2026-09-22T05:31:46Z [4,095ms] [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. +2026-09-22T05:31:46Z [4,095ms] [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. +2026-09-22T05:31:46Z [4,095ms] [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. +2026-09-22T05:31:46Z [4,096ms] [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. +2026-09-22T05:31:46Z [4,096ms] [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. +2026-09-22T05:31:46Z [4,097ms] [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. +2026-09-22T05:31:46Z [4,098ms] [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. +2026-09-22T05:31:46Z [4,098ms] [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. +[4.164s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T05:31:46Z [4,101ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[4.167s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[4.178s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[4.180s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.183s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.186s] [ext: omni.ocio-0.1.1] startup +[4.190s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.207s] [ext: omni.kit.window.console-1.1.4] startup +[4.214s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.219s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T05:31:46Z [4,155ms] [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. +[4.220s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.226s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.234s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.242s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T05:31:46Z [4,178ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.243s] [ext: semantics.schema.editor-2.0.2] startup +[4.249s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.252s] [ext: semantics.schema.property-2.0.1] startup +[4.255s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T05:31:46Z [4,190ms] [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. +2026-09-22T05:31:46Z [4,191ms] [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. +2026-09-22T05:31:46Z [4,192ms] [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. +[4.258s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T05:31:46Z [4,195ms] [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. +2026-09-22T05:31:46Z [4,195ms] [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. +2026-09-22T05:31:46Z [4,196ms] [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. +2026-09-22T05:31:46Z [4,196ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.261s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.277s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.283s] [ext: omni.kit.menu.common-2.0.1] startup +[4.286s] [ext: isaacsim.exp.base-5.1.0] startup +[4.287s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.288s] Simulation App Starting +2026-09-22T05:31:48Z [5,330ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[5.425s] app ready +[9.348s] Simulation App Startup Complete +[9.717s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T05:31:52Z [9,773ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T05:31:53Z [10,703ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:15.040] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:15.274] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T05:32:56Z [74,237ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:32:59Z [76,684ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T05:32:59Z [76,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [76,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [76,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [76,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [76,953ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [76,953ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,072ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,115ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,115ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,153ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,153ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,154ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,154ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,155ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,155ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,211ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,211ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,212ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,212ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:32:59Z [77,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,329ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,329ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,329ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [77,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,131ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,131ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,141ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,152ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,152ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:00Z [78,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,394ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,395ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,700ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,701ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,725ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,725ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,726ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,726ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:33:01Z [78,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:26.477] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:26.534] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T05:33:13Z [90,562ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:38.385] [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. +[00:01:38.387] [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. +2026-09-22T05:33:16Z [94,077ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:16Z [94,078ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:16Z [94,079ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:16Z [94,080ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:33:20Z [97,300ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T05:33:23Z [100,314ms] [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 +2026-09-22T05:33:23Z [100,403ms] [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 +2026-09-22T05:33:26Z [103,583ms] [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 +2026-09-22T05:33:26Z [103,907ms] [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 +2026-09-22T05:34:47Z [184,373ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 release_into_grounded_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1920 recover_and_reobserve {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2040 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2160 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2280 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 703, in deposit + self.r.eef_world(arm, target[:3, 3], quat, steps=18) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 412, in _eef_world_once + raise RecoveryFailure("eef_execution_blocked") +task01_recovery.control.RecoveryFailure: eef_execution_blocked + +2026-09-22T05:42:17Z [634,847ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:42:17Z [634,847ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:42:17Z [634,847ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[635.001s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..56f3ec2f091699e41af8bcff79d65e96a52a4396 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01b4bd28a90bae3502ff2512763ec30eb194f1443a2d9e9d5fcbcf9013d0bc28 +size 2449 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..772f49c1546852b3cab2b6c393ce469159557c98 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c1a1a654b0edf7f6316e88443f22cbdcd524fd00cd49c98d38aa6dbff33c506 +size 36453088 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41cbde19094c5dbc81229d2dba032fe2284f6a48 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:263cb57059ee4fbe972923235cff922e68d2a0d618d9717f14254cefa00aa4ec +size 5618873 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/case.json new file mode 100644 index 0000000000000000000000000000000000000000..6781fc9cc0d5a5e7c91d339d48eca32edaccb6da --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019550-f001527", + "kind": "vla", + "episode_id": "00019550", + "instance_id": 955, + "source_n_steps": 10536, + "seed_rank": 2, + "n_seeds_in_episode": 9, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019550.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019550.json", + "frame": 1527, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 1527, + 2344 + ], + "reason": "Left grasps can_114 at f1526, carries it and releases above bare floor at f2331 (OnTop floor true at f2344). Seed at row start \u2014 the drop that ends the row ruins the state, so earlier is required, and only left holds the can." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..a266212236b50129e53a8700b2a9cf2a21e83248 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f001527/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019550-f001527", + "episode_id": "00019550", + "instance_id": 955, + "start_type": "judgement_seed", + "source_frame": 1527, + "attempt": "attempt_001", + "completed_at": "2026-09-22T05:43:49+00:00", + "success": false, + "status": "error", + "error": 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"shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + 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"clearance_m": 0.080810546875, "speed_m_s": 0.009157163016262957, "footprint": {"fits": true, "max_normalized_radius": 0.7911443372335891, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}} +{"step": 5088, "event": "stage", "name": "release_into_aligned_bin", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": "trash_can_116"}, "eef_world": {"left": [[5.121684551239014, 6.931663990020752, 0.5756664276123047], [-0.6297116279602051, 0.7767975330352783, -0.005595048423856497, 0.00419867318123579]], "right": [[5.191007137298584, 6.959193229675293, 0.4172722101211548], [-0.7463101744651794, 0.5935642719268799, 0.3002539873123169, 0.02345702238380909]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.064700603485107, 6.949922561645508, 0.28931954503059387], "can__of__soda.n.01_1": [5.111011505126953, 6.934100151062012, 0.5472933053970337], "can__of__soda.n.01_3": [5.086930751800537, 6.899703025817871, 0.19731754064559937], "ashcan.n.01_1": [5.089661121368408, 6.908294677734375, 0.2923497259616852]}, "robot_pose": [[4.964622974395752, 6.289353370666504, 0.005285322666168213], [-5.5246055126190186e-05, 5.902539487578906e-05, 0.6208077073097229, 0.7839630246162415]]}} +{"step": 5153, "event": "catch_verified", "object": "can_of_soda_115"} +{"step": 5153, "event": "stage", "name": "retract_hand_after_release", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.121683120727539, 6.931678295135498, 0.5756163597106934], [-0.6297103762626648, 0.7767987251281738, -0.005614895839244127, 0.004151170141994953]], "right": [[5.1909403800964355, 6.95816707611084, 0.41675442457199097], [-0.7496829032897949, 0.5900360345840454, 0.29880839586257935, 0.023380381986498833]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.065333366394043, 6.947668552398682, 0.2881983518600464], "can__of__soda.n.01_1": [5.113778591156006, 6.871481895446777, 0.3054511547088623], "can__of__soda.n.01_3": [5.088444232940674, 6.8976969718933105, 0.19631488621234894], "ashcan.n.01_1": [5.0906596183776855, 6.906352996826172, 0.2913656532764435]}, "robot_pose": [[4.964622497558594, 6.289353847503662, 0.005285292863845825], [-5.566701292991638e-05, 5.886709186597727e-05, 0.6208078861236572, 0.7839628458023071]]}} +{"step": 5153, "event": "eef_target", "arm": "left", "body_xyz": [0.6611315516861112, 0.036219926462962876, 0.5704377112364339], "world_xyz": [5.08090817730262, 6.941279293459059, 0.5756157652312759], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5153, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5153, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.470907281071112, -0.45559630590672545, 0.035371726857562284], [0.3675785206372418, 0.4099955580546773, 0.4109143950425122]]} +{"step": 5172, "event": "joint_tracking", "max_error_rad": 0.0027036741375923157} +{"step": 5172, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.080927848815918, 6.941284656524658, 0.57558673620224], "desired_xyz": [5.08090817730262, 6.941279293459059, 0.5756157652312759], "error_m": 3.547415164366449e-05} +{"step": 5172, "event": "eef_target", "arm": "left", "body_xyz": [0.661129158241306, 0.07810468398111411, 0.5704381838538879], "world_xyz": [5.0401332338777, 6.95088029178262, 0.5756151707518586], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5172, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5172, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.47090601567121415, -0.4555937370968372, 0.03537094404588397], [0.36757577082184456, 0.4099937664733568, 0.41091492716239675]]} +{"step": 5191, "event": "joint_tracking", "max_error_rad": 0.0026640817523002625} +{"step": 5191, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.040151596069336, 6.950883388519287, 0.5755897760391235], "desired_xyz": [5.0401332338777, 6.95088029178262, 0.5756151707518586], "error_m": 3.1490495304901563e-05} +{"step": 5191, "event": "eef_target", "arm": "left", "body_xyz": [0.6611290258735241, 0.11999033322160299, 0.5704378270802821], "world_xyz": [4.999358290452781, 6.9604812901061806, 0.575614576272441], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5191, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5191, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4709049121629836, -0.45559234585931324, 0.03537140232305041], [0.3675736639902963, 0.4099927985423964, 0.4109146140249725]]} +{"step": 5210, "event": "joint_tracking", "max_error_rad": 0.002713620662689209} +{"step": 5210, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.9993815422058105, 6.960482597351074, 0.5755932331085205], "desired_xyz": [4.999358290452781, 6.9604812901061806, 0.575614576272441], "error_m": 3.158929493195724e-05} +{"step": 5210, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 4583, "end": 5210} +{"step": 5210, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.9993815422058105, 6.960482597351074, 0.5755932331085205], [-0.629755973815918, 0.7767629623413086, -0.005526740103960037, 0.004030090756714344]], "right": [[5.1908345222473145, 6.956567764282227, 0.4159543514251709], [-0.7548364996910095, 0.5845785140991211, 0.2965638339519501, 0.02323146164417267]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [5.0663228034973145, 6.944322109222412, 0.2865930199623108], "can__of__soda.n.01_1": [5.105365753173828, 6.868567943572998, 0.302499383687973], "can__of__soda.n.01_3": [5.090635776519775, 6.894677639007568, 0.1948559433221817], "ashcan.n.01_1": [5.092109680175781, 6.90334939956665, 0.28991958498954773]}, "robot_pose": [[4.9646196365356445, 6.289358139038086, 0.00528523325920105], [-5.554594099521637e-05, 5.910365507588722e-05, 0.6208115220069885, 0.7839599251747131]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002345/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002345/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..7fea3ebe053eacf059fa01c3afcea0df73ebb780 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002345/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5095 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.196s] [ext: omni.physics.tensors-107.3.26] startup +[2.200s] [ext: omni.warp.core-1.8.2] startup +[2.317s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.319s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T10:09:22Z [2,281ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.335s] [ext: omni.physx.tensors-107.3.26] startup +[2.340s] [ext: isaacsim.core.utils-3.5.1] startup +[2.344s] [ext: omni.graph.image.core-0.6.1] startup +[2.346s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.463s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.465s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.467s] [ext: isaacsim.core.prims-0.6.1] startup +[2.494s] [ext: omni.syntheticdata-0.6.13] startup +[2.510s] [ext: isaacsim.core.api-4.8.0] startup +[2.524s] [ext: omni.videoencoding-0.1.2] startup +[2.528s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.529s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.531s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.532s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.533s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.537s] [ext: omni.graph.nodes-1.170.10] startup +[2.546s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.550s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.553s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T10:09:22Z [2,500ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.553s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.561s] [ext: omni.warp-1.8.2] startup +[2.565s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.578s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.584s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.614s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.672s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T10:09:22Z [2,629ms] [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 +2026-09-22T10:09:22Z [2,722ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T10:09:22Z [2,722ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T10:09:22Z [2,722ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.777s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.780s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.784s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.793s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T10:09:22Z [2,742ms] [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. +[2.797s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.804s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.872s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.928s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.977s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.000s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T10:09:22Z [2,952ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.060s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.065s] [ext: omni.isaac.core_nodes-2.0.6] 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. +2026-09-22T10:09:22Z [3,071ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.125s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T10:09:22Z [3,078ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.131s] [ext: omni.anim.curve.core-1.3.1] startup +[3.155s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T10:09:22Z [3,103ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:09:22Z [3,104ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:09:22Z [3,125ms] [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. +[3.180s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.191s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T10:09:22Z [3,139ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.192s] [ext: omni.kit.selection-0.1.6] startup +[3.199s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.206s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T10:09:22Z [3,154ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,154ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,154ms] [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. +2026-09-22T10:09:22Z [3,155ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,155ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,155ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,155ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,156ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,156ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:09:22Z [3,156ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.209s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.227s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.240s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.245s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T10:09:22Z [3,194ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.247s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.255s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T10:09:22Z [3,206ms] [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. +2026-09-22T10:09:22Z [3,207ms] [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. +2026-09-22T10:09:22Z [3,208ms] [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. +2026-09-22T10:09:22Z [3,209ms] [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. +2026-09-22T10:09:22Z [3,211ms] [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. +2026-09-22T10:09:22Z [3,212ms] [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. +2026-09-22T10:09:22Z [3,215ms] [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. +2026-09-22T10:09:22Z [3,216ms] [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. +2026-09-22T10:09:22Z [3,217ms] [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. +2026-09-22T10:09:22Z [3,217ms] [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. +2026-09-22T10:09:22Z [3,218ms] [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. +2026-09-22T10:09:22Z [3,220ms] [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. +2026-09-22T10:09:22Z [3,220ms] [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. +2026-09-22T10:09:22Z [3,221ms] [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. +2026-09-22T10:09:22Z [3,221ms] [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. +2026-09-22T10:09:22Z [3,221ms] [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. +[3.274s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T10:09:22Z [3,223ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.276s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T10:09:23Z [3,233ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T10:09:23Z [3,235ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.288s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T10:09:23Z [3,236ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.289s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T10:09:23Z [3,238ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.291s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.296s] [ext: omni.isaac.utils-2.0.6] startup +[3.298s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.308s] [ext: isaacsim.app.about-2.0.11] startup +[3.312s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T10:09:23Z [3,260ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.313s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.315s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T10:09:23Z [3,264ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T10:09:23Z [3,264ms] [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. +2026-09-22T10:09:23Z [3,264ms] [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. +2026-09-22T10:09:23Z [3,265ms] [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. +2026-09-22T10:09:23Z [3,266ms] [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. +2026-09-22T10:09:23Z [3,266ms] [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. +2026-09-22T10:09:23Z [3,268ms] [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. +2026-09-22T10:09:23Z [3,269ms] [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. +2026-09-22T10:09:23Z [3,269ms] [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. +2026-09-22T10:09:23Z [3,269ms] [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. +2026-09-22T10:09:23Z [3,270ms] [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. +2026-09-22T10:09:23Z [3,273ms] [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. +[3.327s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T10:09:23Z [3,289ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T10:09:23Z [3,289ms] [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. +[3.343s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.351s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T10:09:23Z [3,298ms] [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. +[3.352s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.365s] [ext: omni.kit.property.audio-1.0.16] startup +[3.367s] [ext: omni.kit.property.camera-1.0.10] startup +[3.369s] [ext: omni.sensors.net-1.0.0] startup +[3.372s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.377s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.381s] [ext: omni.kit.property.light-1.0.12] startup +[3.446s] [ext: omni.kit.property.material-1.11.9] startup +[3.453s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.455s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.457s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.464s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.471s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.476s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.480s] [ext: omni.kit.property.render-1.2.1] startup +[3.482s] [ext: omni.kit.property.transform-1.5.13] startup +[3.485s] [ext: isaacsim.gui.property-1.1.3] startup +[3.487s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.495s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.503s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.513s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.518s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.524s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T10:09:23Z [3,472ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T10:09:23Z [3,473ms] [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. +[3.526s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T10:09:23Z [3,474ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T10:09:23Z [3,474ms] [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. +[3.527s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.539s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T10:09:23Z [3,488ms] [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. +2026-09-22T10:09:23Z [3,489ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T10:09:23Z [3,489ms] [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. +2026-09-22T10:09:23Z [3,489ms] [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. +2026-09-22T10:09:23Z [3,490ms] [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. +2026-09-22T10:09:23Z [3,490ms] [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. +2026-09-22T10:09:23Z [3,490ms] [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. +2026-09-22T10:09:23Z [3,490ms] [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. +2026-09-22T10:09:23Z [3,493ms] [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. +2026-09-22T10:09:23Z [3,493ms] [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. +2026-09-22T10:09:23Z [3,493ms] [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. +[3.547s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T10:09:23Z [3,496ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.550s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.564s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.568s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.570s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.573s] [ext: omni.ocio-0.1.1] startup +[3.575s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.591s] [ext: omni.kit.window.console-1.1.4] startup +[3.599s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.606s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T10:09:23Z [3,554ms] [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. +[3.607s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.614s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.618s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.628s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T10:09:23Z [3,577ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.630s] [ext: semantics.schema.editor-2.0.2] startup +[3.634s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.635s] [ext: semantics.schema.property-2.0.1] startup +[3.637s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T10:09:23Z [3,585ms] [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. +2026-09-22T10:09:23Z [3,585ms] [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. +2026-09-22T10:09:23Z [3,585ms] [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. +[3.638s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T10:09:23Z [3,587ms] [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. +2026-09-22T10:09:23Z [3,587ms] [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. +2026-09-22T10:09:23Z [3,587ms] [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. +2026-09-22T10:09:23Z [3,587ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.640s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.649s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.655s] [ext: omni.kit.menu.common-2.0.1] startup +[3.657s] [ext: isaacsim.exp.base-5.1.0] startup +[3.657s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.658s] Simulation App Starting +2026-09-22T10:09:23Z [4,051ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.137s] app ready +[6.474s] Simulation App Startup Complete +[6.795s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T10:09:26Z [6,886ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T10:09:27Z [7,758ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.669] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.870] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T10:10:26Z [66,654ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:10:28Z [68,899ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T10:10:28Z [69,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:28Z [69,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:28Z [69,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:28Z [69,190ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:28Z [69,191ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:28Z [69,191ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,311ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,311ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,390ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,391ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,429ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,504ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,504ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,515ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:29Z [69,515ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,295ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,295ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,295ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,295ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,323ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,323ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,342ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,342ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,347ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,347ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,352ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,358ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,358ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,363ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,369ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,369ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,968ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,968ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,968ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [70,968ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:10:30Z [71,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:10:30Z [71,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:16.651] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:16.689] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T10:10:41Z [81,666ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:27.569] [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. +[00:01:27.571] [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. +2026-09-22T10:10:43Z [83,693ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:10:43Z [83,694ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:10:43Z [83,695ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:10:43Z [83,696ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:10:46Z [86,653ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T10:10:49Z [89,811ms] [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 +2026-09-22T10:10:53Z [93,921ms] [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 +2026-09-22T10:12:07Z [168,053ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1200 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1320 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1440 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1560 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1680 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +2026-09-22T10:16:39Z [439,713ms] [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 +RECOVERY progress 1800 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T10:20:12Z [652,769ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T10:20:12Z [652,807ms] [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 3000 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3120 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3240 orient_can_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3360 orient_can_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3480 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3600 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3720 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3840 release_into_aligned_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3960 human_carry_pose_for_pick {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4080 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4440 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T10:24:38Z [918,245ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T10:24:38Z [918,275ms] [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 4560 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4680 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4800 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4920 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5040 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5160 retract_hand_after_release {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-22T10:25:58Z [998,825ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:25:58Z [998,825ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:25:58Z [998,825ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[999.040s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002345/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002345/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..6bbdb6892c176a154cdd973fe087606d01c6d368 --- /dev/null +++ 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6.08278751373291, 0.005285367369651794], [-2.221902832388878e-05, 7.762286259094253e-05, 0.18913178145885468, 0.9819517135620117]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..20043972386549e6c6ddd74971a8a02e826b381f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4987 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.785s] [ext: omni.physics.tensors-107.3.26] startup +[1.788s] [ext: omni.warp.core-1.8.2] startup +[1.893s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.895s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T12:58:44Z [1,877ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.903s] [ext: omni.physx.tensors-107.3.26] startup +[1.908s] [ext: isaacsim.core.utils-3.5.1] startup +[1.911s] [ext: omni.graph.image.core-0.6.1] startup +[1.913s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[1.987s] [ext: omni.graph.image.nodes-1.3.1] startup +[1.990s] [ext: omni.kit.stage_templates-2.0.0] startup +[1.991s] [ext: isaacsim.core.prims-0.6.1] startup +[2.006s] [ext: omni.syntheticdata-0.6.13] startup +[2.016s] [ext: isaacsim.core.api-4.8.0] startup +[2.029s] [ext: omni.videoencoding-0.1.2] startup +[2.033s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.035s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.038s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.039s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.040s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.044s] [ext: omni.graph.nodes-1.170.10] startup +[2.057s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.060s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.062s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T12:58:45Z [2,037ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.063s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.071s] [ext: omni.warp-1.8.2] startup +[2.075s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.088s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.089s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.100s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.128s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T12:58:45Z [2,124ms] [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 +2026-09-22T12:58:45Z [2,229ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T12:58:45Z [2,229ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T12:58:45Z [2,230ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.258s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.259s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.263s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.270s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T12:58:45Z [2,246ms] [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. +[2.273s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.276s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.291s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.302s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.312s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.323s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T12:58:45Z [2,302ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.339s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.357s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T12:58:45Z [2,368ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.395s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T12:58:45Z [2,372ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.398s] [ext: omni.anim.curve.core-1.3.1] startup +[2.491s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T12:58:45Z [2,472ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T12:58:45Z [2,474ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T12:58:45Z [2,567ms] [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. +[2.598s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[2.625s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T12:58:45Z [2,600ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.626s] [ext: omni.kit.selection-0.1.6] startup +[2.629s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.634s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T12:58:45Z [2,608ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,609ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,609ms] [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. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,611ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T12:58:45Z [2,612ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.638s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.653s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.673s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.678s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T12:58:45Z [2,655ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.681s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.685s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T12:58:45Z [2,661ms] [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. +2026-09-22T12:58:45Z [2,663ms] [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. +2026-09-22T12:58:45Z [2,663ms] [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. +2026-09-22T12:58:45Z [2,663ms] [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. +2026-09-22T12:58:45Z [2,663ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,664ms] [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. +2026-09-22T12:58:45Z [2,665ms] [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. +2026-09-22T12:58:45Z [2,665ms] [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. +2026-09-22T12:58:45Z [2,665ms] [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. +2026-09-22T12:58:45Z [2,665ms] [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. +[2.691s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T12:58:45Z [2,666ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.693s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T12:58:45Z [2,669ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T12:58:45Z [2,669ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.695s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T12:58:45Z [2,670ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.698s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T12:58:45Z [2,674ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.700s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.705s] [ext: omni.isaac.utils-2.0.6] startup +[2.707s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.714s] [ext: isaacsim.app.about-2.0.11] startup +[2.717s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T12:58:45Z [2,692ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.718s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.720s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T12:58:45Z [2,696ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T12:58:45Z [2,696ms] [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. +2026-09-22T12:58:45Z [2,699ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +2026-09-22T12:58:45Z [2,700ms] [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. +[2.727s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T12:58:45Z [2,706ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T12:58:45Z [2,706ms] [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. +[2.732s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.735s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T12:58:45Z [2,709ms] [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. +[2.735s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.744s] [ext: omni.kit.property.audio-1.0.16] startup +[2.746s] [ext: omni.kit.property.camera-1.0.10] startup +[2.750s] [ext: omni.sensors.net-1.0.0] startup +[2.752s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.756s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.758s] [ext: omni.kit.property.light-1.0.12] startup +[2.791s] [ext: omni.kit.property.material-1.11.9] startup +[2.794s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.796s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.798s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.803s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.809s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.813s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.816s] [ext: omni.kit.property.render-1.2.1] startup +[2.817s] [ext: omni.kit.property.transform-1.5.13] startup +[2.819s] [ext: isaacsim.gui.property-1.1.3] startup +[2.821s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.826s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.831s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.836s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.839s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.843s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T12:58:45Z [2,818ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T12:58:45Z [2,818ms] [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. +[2.844s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T12:58:45Z [2,819ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T12:58:45Z [2,819ms] [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. +[2.845s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.855s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T12:58:45Z [2,829ms] [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. +2026-09-22T12:58:45Z [2,829ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T12:58:45Z [2,830ms] [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. +2026-09-22T12:58:45Z [2,830ms] [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. +2026-09-22T12:58:45Z [2,830ms] [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. +2026-09-22T12:58:45Z [2,830ms] [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. +2026-09-22T12:58:45Z [2,831ms] [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. +2026-09-22T12:58:45Z [2,831ms] [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. +2026-09-22T12:58:45Z [2,831ms] [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. +2026-09-22T12:58:45Z [2,831ms] [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. +2026-09-22T12:58:45Z [2,831ms] [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. +[2.857s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T12:58:45Z [2,833ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.859s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.869s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.872s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.873s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.874s] [ext: omni.ocio-0.1.1] startup +[2.876s] [ext: omni.rtx.window.settings-0.6.19] startup +[2.886s] [ext: omni.kit.window.console-1.1.4] startup +[2.890s] [ext: omni.kit.window.status_bar-0.1.9] startup +[2.894s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T12:58:45Z [2,869ms] [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. +[2.894s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[2.898s] [ext: omni.rtx.settings.core-0.6.5] startup +[2.902s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[2.913s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T12:58:45Z [2,888ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[2.914s] [ext: semantics.schema.editor-2.0.2] startup +[2.919s] [ext: omni.kit.ui.actions-1.0.5] startup +[2.920s] [ext: semantics.schema.property-2.0.1] startup +[2.921s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T12:58:45Z [2,896ms] [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. +2026-09-22T12:58:45Z [2,896ms] [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. +2026-09-22T12:58:45Z [2,897ms] [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. +[2.923s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T12:58:45Z [2,898ms] [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. +2026-09-22T12:58:45Z [2,898ms] [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. +2026-09-22T12:58:45Z [2,898ms] [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. +2026-09-22T12:58:45Z [2,898ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[2.924s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[2.932s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[2.937s] [ext: omni.kit.menu.common-2.0.1] startup +[2.939s] [ext: isaacsim.exp.base-5.1.0] startup +[2.939s] [ext: omnigibson_5_1_0-3.9.2] startup +[2.940s] Simulation App Starting +2026-09-22T12:58:46Z [3,186ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.246s] app ready +[5.248s] Simulation App Startup Complete +[5.524s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T12:58:48Z [5,617ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T12:58:49Z [6,409ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.052] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.124] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T12:59:36Z [53,892ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:59:38Z [55,802ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T12:59:39Z [56,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,167ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,167ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,201ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,201ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,236ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,236ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,343ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:39Z [56,343ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [56,995ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [56,995ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [56,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [56,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,024ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,024ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,045ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,045ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,051ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,051ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,056ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,056ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,214ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,214ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,500ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,500ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,500ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,500ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,525ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,612ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T12:59:40Z [57,612ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:02.389] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:02.429] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T12:59:49Z [66,396ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:10.884] [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. +[00:01:10.887] [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. +2026-09-22T12:59:50Z [67,274ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:59:50Z [67,276ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:59:50Z [67,277ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:59:50Z [67,278ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T12:59:53Z [70,161ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T12:59:56Z [73,851ms] [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 +2026-09-22T12:59:56Z [73,923ms] [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 +2026-09-22T13:00:01Z [78,237ms] [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 +2026-09-22T13:00:01Z [78,306ms] [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 +2026-09-22T13:01:09Z [146,580ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1200 release_into_grounded_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 1920 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +2026-09-22T13:07:24Z [521,370ms] [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 +RECOVERY progress 2280 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 navigate_to_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T13:11:18Z [755,029ms] [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 3600 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3720 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3840 orient_can_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3960 park_can_for_ground {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4080 park_can_for_ground {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4200 advance_bin_clear_of_base {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4320 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4440 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4560 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4920 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 5040 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +GEOMETRY_QA False 0 +2026-09-22T13:15:35Z [1,012,829ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:15:35Z [1,012,829ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:15:35Z [1,012,829ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1012.961s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/attempt_001/supervision_mask.npy new file mode 100644 index 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Row-start seed." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..9e1c7157de65a834ac13ce145af7da0969b1ae7d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f002901/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019550-f002901", + "episode_id": "00019550", + "instance_id": 955, + "start_type": "judgement_seed", + "source_frame": 2901, + "attempt": "attempt_001", + "completed_at": "2026-09-22T13:19:10+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 5100, + "dataset_frames": 4987, + "dataset_passed": true, + "supervised_frames": 4186, 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0.006115853786468506} +{"step": 5676, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.200666427612305, 6.677806377410889, 0.6346193552017212], "desired_xyz": [5.200636841704879, 6.677813676678883, 0.634666467546909], "error_m": 5.6108629465810997e-05} +{"step": 5676, "event": "eef_target", "arm": "left", "body_xyz": [0.648119546186734, 0.08711425727590216, 0.633863511755001], "world_xyz": [5.1835536516714775, 6.705914313959573, 0.6390427248467782], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5676, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5676, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.5121689735075959, -0.4763575135281807, 0.035360147139931214], [0.5049716839699642, 0.536768059294731, 0.41094304325623104]]} +{"step": 5695, "event": "joint_tracking", "max_error_rad": 0.006041437387466431} +{"step": 5695, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.1835832595825195, 6.705905437469482, 0.6389960646629333], "desired_xyz": [5.1835536516714775, 6.705914313959573, 0.6390427248467782], "error_m": 5.5969574136572925e-05} +{"step": 5695, "event": "eef_target", "arm": "left", "body_xyz": [0.6481195019872441, 0.12000021579662595, 0.6382400763152843], "world_xyz": [5.166470461638076, 6.734014951240263, 0.6434189821466478], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5695, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5695, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.512168978375516, -0.47635745688054376, 0.03536011514695258], [0.5049716654589304, 0.5367680478711956, 0.4109430463990031]]} +{"step": 5714, "event": "joint_tracking", "max_error_rad": 0.006046921014785767} +{"step": 5714, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.166500091552734, 6.73400354385376, 0.6433746814727783], "desired_xyz": [5.166470461638076, 6.734014951240263, 0.6434189821466478], "error_m": 5.450330278802805e-05} +{"step": 5714, "event": "primitive_verified", "operation": "deposit:can_of_soda_115", "start": 4817, "end": 5714} +{"step": 5714, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.166500091552734, 6.73400354385376, 0.6433746814727783], [0.08984550088644028, 0.703132688999176, -0.1052812710404396, 0.6974583864212036]], "right": [[5.309215068817139, 6.6216583251953125, 0.5003774762153625], [-0.4441288113594055, 0.8412113189697266, 0.24793151021003723, 0.18342089653015137]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [5.221879959106445, 6.631165504455566, 0.3491736352443695], "can__of__soda.n.01_3": [5.171688556671143, 6.675735950469971, 0.30697834491729736], "can__of__soda.n.01_2": [5.240448951721191, 6.710041522979736, 0.4216720461845398], "ashcan.n.01_1": [5.208760738372803, 6.665663242340088, 0.37307143211364746]}, "robot_pose": [[4.67492151260376, 6.294726371765137, 0.005285188555717468], [-2.8704293072223663e-05, 7.578369695693254e-05, 0.2697422504425049, 0.9629325866699219]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f003485/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f003485/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..56cd82165909c472a1659e599deccfc7275307e0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f003485/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5598 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.945s] [ext: omni.physics.tensors-107.3.26] startup +[2.950s] [ext: omni.warp.core-1.8.2] startup +[3.094s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.097s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T14:37:33Z [3,040ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.104s] [ext: omni.physx.tensors-107.3.26] startup +[3.110s] [ext: isaacsim.core.utils-3.5.1] startup +[3.113s] [ext: omni.graph.image.core-0.6.1] startup +[3.115s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.193s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.195s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.197s] [ext: isaacsim.core.prims-0.6.1] startup +[3.215s] [ext: omni.syntheticdata-0.6.13] startup +[3.228s] [ext: isaacsim.core.api-4.8.0] startup +[3.244s] [ext: omni.videoencoding-0.1.2] startup +[3.247s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.248s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.252s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.254s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.254s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.260s] [ext: omni.graph.nodes-1.170.10] startup +[3.272s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.275s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.279s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T14:37:33Z [3,216ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.279s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.292s] [ext: omni.warp-1.8.2] startup +[3.298s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.313s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.315s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.327s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.371s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T14:37:33Z [3,327ms] [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 +2026-09-22T14:37:34Z [3,449ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T14:37:34Z [3,449ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T14:37:34Z [3,450ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.519s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.524s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.533s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.566s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T14:37:34Z [3,516ms] [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. +[3.582s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.609s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.698s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.765s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.786s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.798s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T14:37:34Z [3,743ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.830s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.852s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T14:37:34Z [3,806ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.870s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T14:37:34Z [3,815ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.879s] [ext: omni.anim.curve.core-1.3.1] 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. +[3.961s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T14:37:34Z [3,899ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T14:37:34Z [3,900ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T14:37:34Z [3,925ms] [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. +[3.991s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[4.006s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T14:37:34Z [3,944ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[4.008s] [ext: omni.kit.selection-0.1.6] startup +[4.011s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[4.020s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T14:37:34Z [3,957ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,957ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,958ms] [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. +2026-09-22T14:37:34Z [3,960ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,960ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,961ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,961ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,961ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,961ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T14:37:34Z [3,962ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[4.026s] [ext: isaacsim.gui.menu-2.4.4] startup +[4.042s] [ext: isaacsim.sensors.physics-0.4.3] startup +[4.055s] [ext: isaacsim.asset.browser-1.3.23] startup +[4.075s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T14:37:34Z [4,014ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[4.080s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[4.084s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T14:37:34Z [4,022ms] [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. +2026-09-22T14:37:34Z [4,022ms] [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. +2026-09-22T14:37:34Z [4,023ms] [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. +2026-09-22T14:37:34Z [4,024ms] [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. +2026-09-22T14:37:34Z [4,024ms] [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. +2026-09-22T14:37:34Z [4,025ms] [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. +2026-09-22T14:37:34Z [4,025ms] [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. +2026-09-22T14:37:34Z [4,025ms] [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. +2026-09-22T14:37:34Z [4,026ms] [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. +2026-09-22T14:37:34Z [4,026ms] [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. +2026-09-22T14:37:34Z [4,026ms] [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. +2026-09-22T14:37:34Z [4,026ms] [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. +2026-09-22T14:37:34Z [4,027ms] [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. +2026-09-22T14:37:34Z [4,027ms] [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. +2026-09-22T14:37:34Z [4,027ms] [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. +2026-09-22T14:37:34Z [4,027ms] [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. +[4.091s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T14:37:34Z [4,029ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.093s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T14:37:34Z [4,032ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T14:37:34Z [4,033ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[4.096s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T14:37:34Z [4,033ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[4.097s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T14:37:34Z [4,036ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[4.100s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[4.104s] [ext: omni.isaac.utils-2.0.6] startup +[4.109s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[4.124s] [ext: isaacsim.app.about-2.0.11] startup +[4.126s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T14:37:34Z [4,063ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[4.127s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[4.128s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T14:37:34Z [4,067ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T14:37:34Z [4,068ms] [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. +2026-09-22T14:37:34Z [4,068ms] [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. +2026-09-22T14:37:34Z [4,068ms] [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. +2026-09-22T14:37:34Z [4,068ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,069ms] [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. +2026-09-22T14:37:34Z [4,070ms] [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. +[4.134s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T14:37:34Z [4,074ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T14:37:34Z [4,075ms] [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. +[4.139s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[4.145s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T14:37:34Z [4,082ms] [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. +[4.145s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.155s] [ext: omni.kit.property.audio-1.0.16] startup +[4.157s] [ext: omni.kit.property.camera-1.0.10] startup +[4.158s] [ext: omni.sensors.net-1.0.0] startup +[4.161s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.166s] [ext: omni.kit.property.geometry-2.0.4] startup +[4.169s] [ext: omni.kit.property.light-1.0.12] startup +[4.210s] [ext: omni.kit.property.material-1.11.9] startup +[4.216s] [ext: omni.sensors.nv.ids-2.0.0] startup +[4.219s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[4.222s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[4.230s] [ext: omni.hydra.scene_api-0.1.2] startup +[4.237s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.242s] [ext: omni.sensors.nv.radar-3.0.0] startup +[4.246s] [ext: omni.kit.property.render-1.2.1] startup +[4.248s] [ext: omni.kit.property.transform-1.5.13] startup +[4.251s] [ext: isaacsim.gui.property-1.1.3] startup +[4.253s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.259s] [ext: isaacsim.sensors.camera-1.3.6] startup +[4.265s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[4.273s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.276s] [ext: omni.kit.property.bundle-1.4.1] startup +[4.280s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T14:37:34Z [4,218ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T14:37:34Z [4,218ms] [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. +[4.281s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T14:37:34Z [4,218ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T14:37:34Z [4,219ms] [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. +[4.282s] [ext: isaacsim.replicator.writers-1.0.17] startup +[4.294s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,232ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,232ms] [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. +2026-09-22T14:37:34Z [4,233ms] [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. +2026-09-22T14:37:34Z [4,233ms] [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. +2026-09-22T14:37:34Z [4,234ms] [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. +2026-09-22T14:37:34Z [4,234ms] [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. +[4.298s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T14:37:34Z [4,236ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[4.300s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[4.311s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[4.314s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.317s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.319s] [ext: omni.ocio-0.1.1] startup +[4.322s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.336s] [ext: omni.kit.window.console-1.1.4] startup +[4.341s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.347s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T14:37:34Z [4,284ms] [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. +[4.348s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.353s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.359s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.369s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T14:37:34Z [4,307ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.371s] [ext: semantics.schema.editor-2.0.2] startup +[4.376s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.377s] [ext: semantics.schema.property-2.0.1] startup +[4.379s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T14:37:34Z [4,316ms] [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. +2026-09-22T14:37:34Z [4,317ms] [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. +2026-09-22T14:37:34Z [4,318ms] [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. +[4.381s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T14:37:34Z [4,319ms] [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. +2026-09-22T14:37:34Z [4,319ms] [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. +2026-09-22T14:37:34Z [4,320ms] [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. +2026-09-22T14:37:34Z [4,320ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.383s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.396s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.403s] [ext: omni.kit.menu.common-2.0.1] startup +[4.406s] [ext: isaacsim.exp.base-5.1.0] startup +[4.406s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.407s] Simulation App Starting +2026-09-22T14:37:35Z [4,819ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.909s] app ready +[7.503s] Simulation App Startup Complete +[7.794s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T14:37:38Z [7,898ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T14:37:39Z [8,847ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:13.300] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:13.719] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T14:39:01Z [91,125ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:39:09Z [98,555ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T14:39:09Z [98,799ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,799ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,993ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [98,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,029ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,029ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,030ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,030ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,060ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:09Z [99,102ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,759ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,759ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,759ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,759ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,785ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,785ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,804ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,804ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,819ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,820ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,825ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,825ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,830ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,831ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,980ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,980ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,981ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [99,981ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,294ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,294ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,294ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,294ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T14:39:10Z [100,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:47.323] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:47.388] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T14:39:21Z [110,972ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:59.363] [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. +[00:01:59.366] [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. +2026-09-22T14:39:25Z [114,946ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:39:25Z [114,947ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:39:25Z [114,948ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:39:25Z [114,950ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:39:28Z [117,799ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T14:39:33Z [122,633ms] [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 +2026-09-22T14:39:38Z [127,431ms] [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/right_eef_link/ag_constraint +2026-09-22T14:40:48Z [198,142ms] [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 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1320 release_into_grounded_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1440 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1560 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1680 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +2026-09-22T14:45:14Z [464,369ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T14:45:14Z [464,398ms] [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 +RECOVERY progress 1800 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-22T14:49:08Z [697,993ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T14:49:08Z [698,028ms] [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 3120 grasp_can {'can__of__soda.n.01_1': False, '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 3240 coordinate_bin_under_can {'can__of__soda.n.01_1': False, '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 3360 transport_posture {'can__of__soda.n.01_1': False, '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 3480 orient_can_for_drop {'can__of__soda.n.01_1': False, '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 3600 orient_can_for_drop {'can__of__soda.n.01_1': False, '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 3720 orient_bin_for_gravity {'can__of__soda.n.01_1': False, '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 3840 meet_hands_for_drop {'can__of__soda.n.01_1': False, '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 3960 meet_hands_for_drop {'can__of__soda.n.01_1': False, '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 4080 release_into_aligned_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4320 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4440 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4560 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4680 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-22T14:53:54Z [983,734ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-22T14:53:54Z [983,765ms] [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 4800 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4920 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5040 orient_can_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5160 orient_can_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5280 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5400 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5520 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 5640 release_into_aligned_bin {'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 +2026-09-22T14:55:47Z [1,096,734ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:55:47Z [1,096,735ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T14:55:47Z [1,096,735ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1096.888s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f003485/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f003485/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..9a9593a5f410a79dbd48ddbc1ca57af99a0f5151 --- /dev/null +++ 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[2.5289926528930664, 2.3870911598205566, 0.2822551429271698], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.28225810012706337], "error_m": 1.5198503643014439e-05} +{"step": 3656, "event": "eef_target", "arm": "right", "body_xyz": [0.5228344065535288, -0.2637985349176196, 0.2420532869211792], "world_xyz": [2.5290041654113087, 2.3870816882100554, 0.24725810012706345], "held": {"left": null, "right": null}} +{"step": 3656, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3656, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3681, "event": "joint_tracking", "max_error_rad": 1.6987323760986328e-06} +{"step": 3681, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5289995670318604, 2.387075424194336, 0.24727006256580353], "desired_xyz": [2.5290041654113087, 2.3870816882100554, 0.24725810012706345], "error_m": 1.4264744200108216e-05} +{"step": 3681, "event": "eef_target", "arm": "right", "body_xyz": [0.522838156948443, -0.2637955102331435, 0.21705301667320712], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.22225810012706348], "held": {"left": null, "right": null}} +{"step": 3681, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3681, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3706, "event": "joint_tracking", "max_error_rad": 1.519918441772461e-06} +{"step": 3706, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5289952754974365, 2.3870866298675537, 0.22226518392562866], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.22225810012706348], "error_m": 1.2394787194821403e-05} +{"step": 3736, "event": "bin_grasp_micro_search", "shift": [0.023972440677475546, -0.018036687278015218, 0.03]} +{"step": 3736, "event": "eef_target", "arm": "right", "body_xyz": [0.5228351646087486, -0.26378860296385187, 0.26205658360885253], "world_xyz": [2.5290000780822415, 2.3870841590388046, 0.26726152281705645], "held": {"left": null, "right": null}} +{"step": 3736, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3736, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3776, "event": "joint_tracking", "max_error_rad": 6.854534149169922e-07} +{"step": 3776, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.529000997543335, 2.3870885372161865, 0.2672453820705414], "desired_xyz": [2.5290000780822415, 2.3870841590388046, 0.26726152281705645], "error_m": 1.674925502684105e-05} +{"step": 3776, "event": "eef_target", "arm": "right", "body_xyz": [0.5228233978591785, -0.2637861411231191, 0.3070533247542491], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.31225810012706334], "held": {"left": null, "right": null}} +{"step": 3776, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3776, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3816, "event": "joint_tracking", "max_error_rad": 4.470348358154297e-06} +{"step": 3816, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.529006004333496, 2.387092113494873, 0.3122401833534241], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.31225810012706334], "error_m": 2.081054963185045e-05} +{"step": 3816, "event": "eef_target", "arm": "right", "body_xyz": [0.52282920063945, -0.26378555873261555, 0.27205309837929276], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.2772581001270634], "held": {"left": null, "right": null}} +{"step": 3816, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3816, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3841, "event": "joint_tracking", "max_error_rad": 6.854534149169922e-07} +{"step": 3841, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5289971828460693, 2.3870766162872314, 0.2772706151008606], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.2772581001270634], "error_m": 1.5202144177843648e-05} +{"step": 3841, "event": "eef_target", "arm": "right", "body_xyz": [0.5228327632767753, -0.2637806131419973, 0.24705301187721276], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.25225810012706334], "held": {"left": null, "right": null}} +{"step": 3841, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3841, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3866, "event": "joint_tracking", "max_error_rad": 1.6093254089355469e-06} +{"step": 3866, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.529003143310547, 2.387075424194336, 0.2522662580013275], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.25225810012706334], "error_m": 1.0336028996274442e-05} +{"step": 3896, "event": "bin_grasp_micro_search", "shift": [0.023972440677475546, -0.018036687278015218, -0.03]} +{"step": 3896, "event": "eef_target", "arm": "right", "body_xyz": [0.5228325953546964, -0.26378067872236655, 0.24705306184880824], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.25225810012706346], "held": {"left": null, "right": null}} +{"step": 3896, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3896, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3971, "event": "joint_tracking", "max_error_rad": 2.2351741790771484e-06} +{"step": 3971, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5290040969848633, 2.3870811462402344, 0.2522577941417694], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.25225810012706346], "error_m": 6.26131348490096e-07} +{"step": 3971, "event": "eef_target", "arm": "right", "body_xyz": [0.5228383223836838, -0.2637805416780501, 0.21205299156898622], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.21725810012706342], "held": {"left": null, "right": null}} +{"step": 3971, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3971, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3996, "event": "joint_tracking", "max_error_rad": 0.002419888973236084} +{"step": 3996, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5288000106811523, 2.3863673210144043, 0.21798449754714966], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.21725810012706342], "error_m": 0.0010390634513713494} +{"step": 3996, "event": "eef_target", "arm": "right", "body_xyz": [0.5228853603338472, -0.26382593364538354, 0.1867946011141315], "world_xyz": [2.529004165411309, 2.3870816882100554, 0.19225810012706337], "held": {"left": null, "right": null}} +{"step": 3996, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3996, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4021, "event": "joint_tracking", "max_error_rad": 0.014589548110961914} +{"step": 4021, "event": "eef_tracking", "arm": "right", "actual_xyz": [2.5328409671783447, 2.3839309215545654, 0.21719926595687866], "desired_xyz": [2.529004165411309, 2.3870816882100554, 0.19225810012706337], "error_m": 0.025430496087713677} +{"step": 4051, "event": "primitive_failure", "operation": "pick_bin", "reason": "physical_grasp_not_established", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..34c1b8c8a9e7c91082adca66edc3a5dd343b7d14 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4051 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 315, in pick\n raise RecoveryFailure(\"physical_grasp_not_established\")\ntask01_recovery.control.RecoveryFailure: physical_grasp_not_established\n", + "steps": 4051, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 3.1175801753997803, + 2.2875490188598633, + 0.3252370059490204 + ], + [ + 0.7757841944694519, + 0.5064437985420227, + 0.14943821728229523, + -0.345458984375 + ] + ], + "right": [ + [ + 2.532799005508423, + 2.3832263946533203, + 0.217294842004776 + ], + [ + 0.9181861877441406, + 0.3323121964931488, + -0.1354123204946518, + 0.16782817244529724 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 2.702608585357666, + 2.4878737926483154, + 0.03684797137975693 + ], + "can__of__soda.n.01_2": [ + 4.280996322631836, + 5.4572434425354, + 0.03518166393041611 + ], + "can__of__soda.n.01_1": [ + 2.6465251445770264, + 2.0081210136413574, + 0.036135558038949966 + ], + "ashcan.n.01_1": [ + 2.582016944885254, + 2.3424859046936035, + 0.092989981174469 + ] + }, + "robot_pose": [ + [ + 3.06832218170166, + 2.6155881881713867, + 0.0095023512840271 + ], + [ + -0.010521193034946918, + 0.00765120517462492, + -0.9073076248168945, + 0.4202663004398346 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1012 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..799c41f138c11c9c6cea2c7cd769ed431e5b9f49 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3eb1461c0ebce9bbca72a4345365cdd54924088a55f603b814adbd99421dc8d +size 455392 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..6b38264c40e832a230fc1c954da7076c51b37c9d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/run.log @@ -0,0 +1,661 @@ +RECOVERY building environment +[00:00:10.726] [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_20260922_232135.log +[0.499s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.783s] [ext: omni.metrics.core-0.0.3] startup +[0.784s] [ext: omni.client.lib-1.1.0] startup +[0.811s] [ext: omni.blobkey-1.1.2] startup +[0.812s] [ext: omni.stats-1.0.1] startup +[0.813s] [ext: omni.datastore-0.0.0] startup +[0.826s] [ext: omni.client-1.3.0] startup +[0.834s] [ext: omni.ujitso.default-1.0.0] startup +[0.836s] [ext: omni.hsscclient-1.1.2] startup +[1.054s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[1.056s] [ext: omni.assets.plugins-0.0.0] startup +[1.058s] [ext: omni.gpu_foundation-0.0.0] startup +[1.082s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T15:21:36Z [645ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:36Z [645ms] [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) +[1.084s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T15:21:36Z [667ms] [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: 46516 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T15:21:37Z [1,539ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[2.103s] [ext: omni.materialx.libs-1.0.7] startup +[2.113s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.114s] [ext: omni.kit.test-2.0.1] startup +[2.134s] [ext: omni.usd.config-1.0.6] startup +[2.139s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.140s] [ext: omni.usd.libs-1.0.1] startup +[2.299s] [ext: omni.kit.telemetry-0.5.2] startup +[2.319s] [ext: omni.mdl-56.0.3] startup +[2.338s] [ext: omni.iray.libs-0.0.0] startup +[2.366s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.369s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.481s] [ext: omni.kit.pipapi-0.0.0] startup +[2.482s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T15:21:37Z [2,044ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,044ms] [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) +[2.484s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T15:21:37Z [2,328ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,328ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-09-22T15:21:37Z [2,335ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,335ms] [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) +[2.777s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.783s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T15:21:37Z [2,354ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,354ms] [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) +2026-09-22T15:21:37Z [2,356ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,356ms] [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) +2026-09-22T15:21:37Z [2,358ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T15:21:37Z [2,358ms] [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) +[2.906s] [ext: omni.ui-2.27.1] startup +[2.919s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.922s] [ext: carb.audio-0.1.0] startup +[2.927s] [ext: omni.uiaudio-1.0.0] startup +[2.929s] [ext: omni.kit.uiapp-0.0.0] startup +[2.929s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.931s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.938s] [ext: omni.usd_resolver-1.0.0] startup +[2.944s] [ext: omni.usd.core-1.5.3] startup +[2.948s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.976s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.012s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.016s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.021s] [ext: omni.kit.actions.core-1.0.0] startup +[3.023s] [ext: omni.activity.core-1.0.3] startup +[3.024s] [ext: omni.kit.commands-1.4.10] startup +[3.029s] [ext: usdrt.scenegraph-7.6.1] startup +[3.071s] [ext: omni.resourcemonitor-107.0.1] startup +[3.072s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.074s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.082s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.083s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.086s] [ext: omni.graph.exec-0.9.6] startup +[3.086s] [ext: omni.timeline-1.0.14] startup +[3.088s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.090s] [ext: omni.kit.exec.core-0.13.4] startup +[3.092s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.099s] [ext: omni.usd-1.13.10] startup +[3.127s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.148s] [ext: omni.usd.schema.isaac-3.0.5] startup +[3.148s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.155s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.164s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.170s] [ext: omni.usd.schema.flow-107.1.1] startup +[3.170s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.171s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.206s] [ext: omni.inspect-1.0.2] startup +[3.208s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.210s] [ext: omni.graph.core-2.184.5] startup +[3.213s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.214s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.215s] [ext: omni.anim.graph.schema-107.3.3] startup +[3.223s] [ext: omni.anim.navigation.schema-107.3.3] startup +[3.227s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.228s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.231s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.232s] [ext: omni.kit.clipboard-1.0.5] startup +[3.233s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.242s] [ext: omni.ui.scene-1.11.5] startup +[3.248s] [ext: omni.index.libs-380600.8087.0] startup +[3.248s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.257s] [ext: omni.index-1.0.1] startup +[3.259s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.260s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.263s] [ext: omni.volume-0.5.2] startup +[3.269s] [ext: omni.ujitso.client-0.0.0] startup +[3.269s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.271s] [ext: omni.kit.menu.core-1.1.2] startup +[3.271s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T15:21:38Z [2,878ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.350s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.351s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.355s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.356s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.360s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.370s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.376s] [ext: omni.kit.context_menu-1.8.6] startup +[3.378s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.381s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.382s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.384s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.391s] [ext: omni.kit.material.library-2.0.7] startup +[3.395s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.395s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.399s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.413s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[3.413s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.414s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.415s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.416s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.416s] [ext: omni.kit.browser.core-2.3.13] startup +[3.420s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.420s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.432s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[3.437s] [ext: omni.kit.window.file-2.0.5] startup +[3.439s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.440s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.441s] [ext: omni.kit.usd.collect-2.4.5] startup +[3.444s] [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 +[3.471s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.483s] [ext: omni.kit.usdz_export-1.0.9] startup +[3.486s] [ext: omni.graph.action_core-1.1.7] startup +[3.488s] [ext: omni.graph-1.141.2] startup +[3.523s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[3.524s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[3.529s] [ext: omni.graph.action_nodes-1.50.4] startup +[3.535s] [ext: omni.kit.window.stage-2.6.1] startup +[3.543s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.545s] [ext: omni.graph.action-1.130.0] startup +[3.545s] [ext: omni.kit.menu.stage-1.2.7] startup +[3.547s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.549s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.550s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.552s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.557s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.560s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.561s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.563s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.574s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.576s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.577s] [ext: omni.kit.window.property-1.12.1] startup +[3.583s] [ext: omni.ui_query-1.1.8] startup +[3.585s] [ext: omni.kit.property.usd-4.5.12] startup +[3.604s] [ext: omni.kit.menu.create-2.0.1] startup +[3.607s] [ext: isaacsim.core.version-2.0.6] startup +[3.609s] [ext: omni.kit.ui_test-1.3.7] startup +[3.613s] [ext: omni.kit.scripting-107.3.2] startup +[3.636s] [ext: omni.convexdecomposition-107.3.26] startup +[3.643s] [ext: isaacsim.storage.native-1.5.1] startup +[3.647s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.660s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.668s] [ext: omni.kvdb-107.3.26] startup +[3.671s] [ext: omni.usdphysics-107.3.26] startup +[3.676s] [ext: omni.physx.foundation-107.3.26] startup +[3.680s] [ext: omni.localcache-107.3.26] startup +[3.683s] [ext: omni.kit.window.extensions-1.4.27] startup +[3.691s] [ext: omni.physx.cooking-107.3.26] startup +[3.698s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.700s] [ext: omni.physx-107.3.26] startup +[3.718s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[3.727s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[3.728s] [ext: omni.kit.tool.collect-2.2.18] startup +[3.732s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.740s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.742s] [ext: isaacsim.gui.components-1.2.1] startup +[3.746s] [ext: isaacsim.examples.browser-0.2.1] startup +[3.752s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[3.848s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.857s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.863s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.872s] [ext: omni.fabric.commands-1.1.6] startup +[3.875s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.877s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.879s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.891s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.893s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.893s] [ext: omni.debugdraw-0.1.4] startup +[3.898s] [ext: omni.physics-107.3.26] startup +[3.904s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.924s] [ext: omni.physx.commands-107.3.26] startup +[3.929s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.931s] [ext: omni.kit.window.toolbar-2.0.0] startup +[3.934s] [ext: omni.physx.ui-107.3.26] startup +[3.961s] [ext: omni.kit.widget.graph-2.0.0] startup +[3.967s] [ext: omni.physx.supportui-107.3.26] startup +[3.979s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[3.981s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.982s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.986s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T15:21:39Z [3,550ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.988s] [ext: omni.physics.tensors-107.3.26] startup +[3.993s] [ext: omni.warp.core-1.8.2] startup +[4.106s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.108s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T15:21:39Z [3,678ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.116s] [ext: omni.physx.tensors-107.3.26] startup +[4.124s] [ext: isaacsim.core.utils-3.5.1] startup +[4.128s] [ext: omni.graph.image.core-0.6.1] startup +[4.129s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.209s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.210s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.213s] [ext: isaacsim.core.prims-0.6.1] startup +[4.239s] [ext: omni.syntheticdata-0.6.13] startup +[4.258s] [ext: isaacsim.core.api-4.8.0] startup +[4.275s] [ext: omni.videoencoding-0.1.2] startup +[4.278s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.279s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.282s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.283s] [ext: isaacsim.simulation_app-2.12.2] startup +[4.283s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.288s] [ext: omni.graph.nodes-1.170.10] startup +[4.321s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.324s] [ext: isaacsim.test.docstring-1.1.0] startup +[4.327s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T15:21:39Z [3,889ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[4.327s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[4.340s] [ext: omni.warp-1.8.2] startup +[4.344s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.353s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.354s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[4.361s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[4.388s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T15:21:39Z [3,963ms] [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 +2026-09-22T15:21:39Z [4,212ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T15:21:39Z [4,212ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T15:21:39Z [4,214ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[4.655s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[4.662s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[4.675s] [ext: isaacsim.core.nodes-3.4.3] startup +[4.690s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T15:21:39Z [4,255ms] [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. +[4.696s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[4.704s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[4.758s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[4.790s] [ext: isaacsim.core.throttling-2.2.2] startup +[4.813s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[4.848s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T15:21:40Z [4,415ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[4.861s] [ext: isaacsim.cortex.framework-1.0.12] startup +[4.863s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T15:21:40Z [4,432ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[4.874s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T15:21:40Z [4,439ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[4.878s] [ext: omni.anim.curve.core-1.3.1] startup +[5.006s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T15:21:40Z [4,570ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T15:21:40Z [4,578ms] [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. +2026-09-22T15:21:40Z [4,642ms] [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. +[5.081s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[5.094s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T15:21:40Z [4,657ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[5.096s] [ext: omni.kit.selection-0.1.6] startup +[5.098s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[5.107s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T15:21:40Z [4,670ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,670ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,670ms] [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. +2026-09-22T15:21:40Z [4,673ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,673ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,673ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,675ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,675ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,676ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T15:21:40Z [4,676ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[5.115s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.132s] [ext: isaacsim.sensors.physics-0.4.3] startup +[5.143s] [ext: isaacsim.asset.browser-1.3.23] startup +[5.152s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T15:21:40Z [4,716ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[5.156s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[5.161s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T15:21:40Z [4,724ms] [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. +2026-09-22T15:21:40Z [4,726ms] [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. +2026-09-22T15:21:40Z [4,726ms] [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. +2026-09-22T15:21:40Z [4,726ms] [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. +2026-09-22T15:21:40Z [4,727ms] [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. +2026-09-22T15:21:40Z [4,727ms] [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. +2026-09-22T15:21:40Z [4,727ms] [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. +2026-09-22T15:21:40Z [4,728ms] [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. +2026-09-22T15:21:40Z [4,728ms] [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. +2026-09-22T15:21:40Z [4,728ms] [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. +2026-09-22T15:21:40Z [4,729ms] [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. +2026-09-22T15:21:40Z [4,729ms] [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. +2026-09-22T15:21:40Z [4,729ms] [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. +2026-09-22T15:21:40Z [4,730ms] [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. +2026-09-22T15:21:40Z [4,730ms] [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. +2026-09-22T15:21:40Z [4,730ms] [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. +[5.169s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T15:21:40Z [4,732ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[5.172s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T15:21:40Z [4,736ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T15:21:40Z [4,736ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[5.175s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T15:21:40Z [4,737ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[5.176s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T15:21:40Z [4,741ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[5.179s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[5.187s] [ext: omni.isaac.utils-2.0.6] startup +[5.189s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[5.204s] [ext: isaacsim.app.about-2.0.11] startup +[5.208s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T15:21:40Z [4,771ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[5.210s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[5.212s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T15:21:40Z [4,776ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T15:21:40Z [4,777ms] [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. +2026-09-22T15:21:40Z [4,777ms] [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. +2026-09-22T15:21:40Z [4,779ms] [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. +2026-09-22T15:21:40Z [4,779ms] [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. +2026-09-22T15:21:40Z [4,780ms] [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. +2026-09-22T15:21:40Z [4,780ms] [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. +2026-09-22T15:21:40Z [4,780ms] [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. +2026-09-22T15:21:40Z [4,780ms] [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. +2026-09-22T15:21:40Z [4,780ms] [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. +2026-09-22T15:21:40Z [4,784ms] [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. +2026-09-22T15:21:40Z [4,786ms] [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. +[5.225s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T15:21:40Z [4,791ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T15:21:40Z [4,791ms] [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. +[5.230s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[5.236s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T15:21:40Z [4,800ms] [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. +[5.238s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.272s] [ext: omni.kit.property.audio-1.0.16] startup +[5.274s] [ext: omni.kit.property.camera-1.0.10] startup +[5.277s] [ext: omni.sensors.net-1.0.0] startup +[5.281s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.287s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.291s] [ext: omni.kit.property.light-1.0.12] startup +[5.350s] [ext: omni.kit.property.material-1.11.9] startup +[5.357s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.360s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.365s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.379s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.386s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.391s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.396s] [ext: omni.kit.property.render-1.2.1] startup +[5.398s] [ext: omni.kit.property.transform-1.5.13] startup +[5.401s] [ext: isaacsim.gui.property-1.1.3] startup +[5.404s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.410s] [ext: isaacsim.sensors.camera-1.3.6] startup +[5.416s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[5.424s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.428s] [ext: omni.kit.property.bundle-1.4.1] startup +[5.433s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T15:21:40Z [4,996ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T15:21:40Z [4,996ms] [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. +[5.434s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T15:21:40Z [4,999ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T15:21:40Z [4,999ms] [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. +[5.439s] [ext: isaacsim.replicator.writers-1.0.17] startup +[5.452s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T15:21:40Z [5,015ms] [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. +2026-09-22T15:21:40Z [5,015ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T15:21:40Z [5,016ms] [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. +2026-09-22T15:21:40Z [5,017ms] [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. +2026-09-22T15:21:40Z [5,021ms] [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. +2026-09-22T15:21:40Z [5,021ms] [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. +2026-09-22T15:21:40Z [5,022ms] [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. +2026-09-22T15:21:40Z [5,023ms] [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. +2026-09-22T15:21:40Z [5,028ms] [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. +2026-09-22T15:21:40Z [5,028ms] [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. +2026-09-22T15:21:40Z [5,029ms] [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. +[5.470s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T15:21:40Z [5,036ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[5.476s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[5.493s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[5.497s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[5.502s] [ext: isaacsim.replicator.examples-1.3.6] startup +[5.505s] [ext: omni.ocio-0.1.1] startup +[5.510s] [ext: omni.rtx.window.settings-0.6.19] startup +[5.529s] [ext: omni.kit.window.console-1.1.4] startup +[5.539s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.544s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T15:21:40Z [5,107ms] [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. +[5.546s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[5.553s] [ext: omni.rtx.settings.core-0.6.5] startup +[5.563s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[5.578s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T15:21:40Z [5,140ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[5.579s] [ext: semantics.schema.editor-2.0.2] startup +[5.586s] [ext: omni.kit.ui.actions-1.0.5] startup +[5.589s] [ext: semantics.schema.property-2.0.1] startup +[5.593s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T15:21:40Z [5,156ms] [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. +2026-09-22T15:21:40Z [5,156ms] [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. +2026-09-22T15:21:40Z [5,161ms] [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. +[5.599s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T15:21:40Z [5,164ms] [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. +2026-09-22T15:21:40Z [5,164ms] [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. +2026-09-22T15:21:40Z [5,165ms] [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. +2026-09-22T15:21:40Z [5,165ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[5.603s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[5.638s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[5.650s] [ext: omni.kit.menu.common-2.0.1] startup +[5.653s] [ext: isaacsim.exp.base-5.1.0] startup +[5.654s] [ext: omnigibson_5_1_0-3.9.2] startup +[5.655s] Simulation App Starting +2026-09-22T15:21:42Z [7,335ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[7.804s] app ready +[10.878s] Simulation App Startup Complete +[11.331s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T15:21:46Z [11,033ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T15:21:47Z [12,007ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:23.237] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:23.595] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T15:22:57Z [81,615ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:23:06Z [90,760ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,760ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,761ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,761ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,762ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,762ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,977ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [90,977ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,027ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,027ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,064ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,064ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,064ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,064ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,093ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,127ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,133ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:06Z [91,133ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,951ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,984ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,984ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [91,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [92,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [92,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:07Z [92,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:07Z [92,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,434ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,523ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T15:23:08Z [92,523ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T15:23:09Z [93,505ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:46.557] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:46.642] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T15:23:19Z [103,965ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:58.957] [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. +[00:01:58.959] [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. +2026-09-22T15:23:23Z [107,762ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:23:23Z [107,764ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:23:23Z [107,765ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:23:23Z [107,765ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:23:26Z [110,603ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T15:23:32Z [116,921ms] [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 +2026-09-22T15:23:32Z [116,991ms] [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 +2026-09-22T15:23:38Z [123,263ms] [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 +2026-09-22T15:23:38Z [123,341ms] [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 +2026-09-22T15:24:44Z [189,297ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_113'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 1920 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2040 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2160 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_113'} +RECOVERY progress 2280 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2400 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2520 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2640 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2760 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2880 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3000 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3120 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3240 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3360 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3480 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3600 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3720 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3840 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3960 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 315, in pick + raise RecoveryFailure("physical_grasp_not_established") +task01_recovery.control.RecoveryFailure: physical_grasp_not_established + +2026-09-22T15:38:05Z [989,869ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:38:05Z [989,869ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T15:38:05Z [989,869ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[990.402s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..01085883632ebee5f5cb376ac237ef18067689e5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:261fd39fae03fb57180812cfb356a1c9321e41152da2a72b017dcaec70062f2c +size 4179 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..943ba588dd187912394608611c142fbba9e23143 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29429e1a52e4b5ae9d764b313404e544a712dfaf7311ce6af5c1823f8f6e5a30 +size 63342010 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5b14feb01946123f7ba13634323ee3f1865b01fc --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7bea310dd07bd9561c530b4af966b609f7e5ada40f0f23fc4dd8e1087b78773 +size 8525714 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/case.json new file mode 100644 index 0000000000000000000000000000000000000000..8e1e03ee31e204b494da2d2a3e1abf86829289cd --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019550-f004713", + "kind": "vla", + "episode_id": "00019550", + "instance_id": 955, + "source_n_steps": 10536, + "seed_rank": 6, + "n_seeds_in_episode": 9, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019550.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019550.json", + "frame": 4713, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4713, + 8252 + ], + "reason": "Very long carry (~3540 frames vs. card median 220) that ends with the can dropped on floor at f8242/f8252. Row-start seed \u2014 the whole row is on the wrong plan branch and the drop ruins the state." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..1365b44e861c813f16e97a1a65f620e4ab3e719e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019550-f004713/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019550-f004713", + "episode_id": "00019550", + "instance_id": 955, + "start_type": "judgement_seed", + "source_frame": 4713, + "attempt": "attempt_001", + "completed_at": "2026-09-22T15:40:54+00:00", + "success": false, + "status": "error", + "error": "physical_grasp_not_established", + "teacher_steps": 4051, + "dataset_frames": 4051, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019550-f004713/attempt_001/dataset", + "video": "runs/vla-episode_00019550-f004713/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": "can_of_soda_115", + "right": "can_of_soda_113" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 160 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b5dd810e8f5aea82565f9ce5668d87236e739dd5 --- /dev/null +++ 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"codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "action" + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "reward" + ] + }, + "next.terminated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 61 + ], + "names": [ + null + ] + }, + "observation.robot2cam_pose.left_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": 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"case": { + "case_id": "vla-episode_00019560-f006952", + "kind": "vla", + "episode_id": "00019560", + "instance_id": 956, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019560.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019560.json", + "frame": 6952, + "start_type": "judgement_seed", + "chunk_index": 4, + "chunk_span": [ + 6952, + 10535 + ], + "reason": "Robot stopped making progress with one can uncollected. Both grippers empty from f6951 onwards (verified f7000, f8000, f9000, f10000). No grasp attempts f6952-10535 per grasp_history. Seed at first frame after trash can release where recovery should begin: navigate to and collect the third can. Left arm matches this rollout's pattern (used left for both prior can grasps at f2412 and f6065), though right is also mechanically free." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7b6ccc929514c7421714a1483a1345c41594f1d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/events.jsonl @@ -0,0 +1,363 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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[4.491358280181885, 6.350910663604736, 0.2943817675113678]}, "robot_pose": [[4.807094097137451, 5.804480075836182, 0.005285441875457764], [-7.438100874423981e-05, 3.195218596374616e-05, 0.8819712996482849, 0.47130313515663147]]}} +{"step": 1643, "event": "eef_target", "arm": "left", "body_xyz": [0.6262772634220753, 0.034577950230566756, 0.5652064854173986], "world_xyz": [4.430238998091721, 6.30599161459299, 0.5703904120327642], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1643, "event": "torso_collision_guard", "start_overlap_m": 6.253919698551158e-05, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 6.253919698551158e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1643, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.017341049917680706, "held_worst_rejected_m": null, "base_box_body": [[-0.5100130635940968, -0.4812710998346233, 0.0353609190380101], [0.5155341872086165, 0.5390447078480678, 0.4109441246025214]]} +{"step": 1662, "event": "joint_tracking", "max_error_rad": 0.003621220588684082} +{"step": 1662, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.430230140686035, 6.3060221672058105, 0.5703336000442505], "desired_xyz": [4.430238998091721, 6.30599161459299, 0.5703904120327642], "error_m": 6.511157980351596e-05} +{"step": 1662, "event": "eef_target", "arm": "left", "body_xyz": [0.6262767486395184, 0.0772892806059407, 0.5652067450587551], "world_xyz": [4.394731116605805, 6.282255102660102, 0.570389824748359], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1662, "event": "torso_collision_guard", "start_overlap_m": 6.992004853451084e-05, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 6.992004853451084e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1662, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.017889227542668307, "held_worst_rejected_m": null, "base_box_body": [[-0.5100131831012638, -0.4812712411298666, 0.03536072487345486], [0.5155346088149573, 0.539044749969612, 0.4109441904952332]]} +{"step": 1681, "event": "joint_tracking", "max_error_rad": 0.0036627650260925293} +{"step": 1681, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.394722938537598, 6.282284259796143, 0.5703362226486206], "desired_xyz": [4.394731116605805, 6.282255102660102, 0.570389824748359], "error_m": 6.156463658679223e-05} +{"step": 1681, "event": "eef_target", "arm": "left", "body_xyz": [0.6262767849541833, 0.12000033535751414, 0.5652066954193764], "world_xyz": [4.35922323511989, 6.258518590727213, 0.5703892374639534], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1681, "event": "torso_collision_guard", "start_overlap_m": 7.739956979990747e-05, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 7.739956979990747e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1681, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.018435080235685408, "held_worst_rejected_m": null, "base_box_body": [[-0.5100131652060725, -0.48127121941711365, 0.03536074686368159], [0.5155346103638704, 0.5390447518426628, 0.41094416148603047]]} +{"step": 1700, "event": "joint_tracking", "max_error_rad": 0.0038791894912719727} +{"step": 1700, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.3594136238098145, 6.25868558883667, 0.5702719688415527], "desired_xyz": [4.35922323511989, 6.258518590727213, 0.5703892374639534], "error_m": 0.00027908448830599153} +{"step": 1700, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 1090, "end": 1700} +{"step": 1700, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.3594136238098145, 6.25868558883667, 0.5702719688415527], [-0.8878984451293945, 0.45995843410491943, -0.006080247927457094, 0.006149232387542725]], "right": [[4.580372333526611, 6.417145729064941, 0.4069615304470062], [-0.8569696545600891, 0.4773853123188019, 0.19123198091983795, 0.03371550515294075]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.491586685180664, 6.355813980102539, 0.19640463590621948], "can__of__soda.n.01_3": [4.456342697143555, 6.378417491912842, 0.34771499037742615], "can__of__soda.n.01_2": [4.504854679107666, 6.329575538635254, 0.2647867202758789], "ashcan.n.01_1": [4.494192600250244, 6.350675106048584, 0.29250696301460266]}, "robot_pose": [[4.80709171295166, 5.804479598999023, 0.005285337567329407], [-7.450580596923828e-05, 3.231262235203758e-05, 0.8819729089736938, 0.4713001847267151]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..83ca433eea2b3dd245e47f025b2e02b285ab62f9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1584 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.346s] [ext: omni.physics.tensors-107.3.26] startup +[2.349s] [ext: omni.warp.core-1.8.2] startup +[2.464s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.466s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T11:18:14Z [2,450ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.471s] [ext: omni.physx.tensors-107.3.26] startup +[2.477s] [ext: isaacsim.core.utils-3.5.1] startup +[2.479s] [ext: omni.graph.image.core-0.6.1] startup +[2.481s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.559s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.561s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.562s] [ext: isaacsim.core.prims-0.6.1] startup +[2.577s] [ext: omni.syntheticdata-0.6.13] startup +[2.588s] [ext: isaacsim.core.api-4.8.0] startup +[2.603s] [ext: omni.videoencoding-0.1.2] startup +[2.606s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.607s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.609s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.610s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.610s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.613s] [ext: omni.graph.nodes-1.170.10] startup +[2.622s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.624s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.627s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T11:18:14Z [2,607ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.628s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.635s] [ext: omni.warp-1.8.2] startup +[2.639s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.652s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.653s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.662s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.723s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T11:18:14Z [2,727ms] [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 +2026-09-20T11:18:14Z [2,792ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T11:18:14Z [2,792ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T11:18:14Z [2,793ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.816s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.818s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.824s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.843s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T11:18:14Z [2,824ms] [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. +[2.846s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.856s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.008s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.050s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.090s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.118s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T11:18:15Z [3,104ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.188s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.194s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T11:18:15Z [3,185ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.207s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T11:18:15Z [3,189ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.211s] [ext: omni.anim.curve.core-1.3.1] startup +[3.231s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T11:18:15Z [3,212ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:18:15Z [3,213ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:18:15Z [3,230ms] [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. +[3.253s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.267s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T11:18:15Z [3,249ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.270s] [ext: omni.kit.selection-0.1.6] startup +[3.273s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.285s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T11:18:15Z [3,264ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,265ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,265ms] [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. +2026-09-20T11:18:15Z [3,266ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,267ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,267ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,267ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,268ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,269ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:18:15Z [3,269ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.290s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.306s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.319s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.328s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T11:18:15Z [3,309ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.331s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.345s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T11:18:15Z [3,327ms] [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. +2026-09-20T11:18:15Z [3,327ms] [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. +2026-09-20T11:18:15Z [3,328ms] [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. +2026-09-20T11:18:15Z [3,328ms] [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. +2026-09-20T11:18:15Z [3,329ms] [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. +2026-09-20T11:18:15Z [3,329ms] [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. +2026-09-20T11:18:15Z [3,329ms] [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. +2026-09-20T11:18:15Z [3,330ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,332ms] [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. +2026-09-20T11:18:15Z [3,333ms] [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. +[3.354s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T11:18:15Z [3,334ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.355s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T11:18:15Z [3,337ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T11:18:15Z [3,337ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.358s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T11:18:15Z [3,338ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.360s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T11:18:15Z [3,342ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.363s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.368s] [ext: omni.isaac.utils-2.0.6] startup +[3.370s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.381s] [ext: isaacsim.app.about-2.0.11] startup +[3.384s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T11:18:15Z [3,364ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.385s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.387s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T11:18:15Z [3,366ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T11:18:15Z [3,368ms] [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. +2026-09-20T11:18:15Z [3,368ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,372ms] [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. +2026-09-20T11:18:15Z [3,373ms] [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. +2026-09-20T11:18:15Z [3,373ms] [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. +2026-09-20T11:18:15Z [3,373ms] [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. +[3.394s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T11:18:15Z [3,379ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T11:18:15Z [3,379ms] [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. +[3.400s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.407s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T11:18:15Z [3,386ms] [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. +[3.407s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.417s] [ext: omni.kit.property.audio-1.0.16] startup +[3.418s] [ext: omni.kit.property.camera-1.0.10] startup +[3.419s] [ext: omni.sensors.net-1.0.0] startup +[3.422s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.425s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.427s] [ext: omni.kit.property.light-1.0.12] startup +[3.483s] [ext: omni.kit.property.material-1.11.9] startup +[3.489s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.500s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.502s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.506s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.512s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.516s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.519s] [ext: omni.kit.property.render-1.2.1] startup +[3.520s] [ext: omni.kit.property.transform-1.5.13] startup +[3.523s] [ext: isaacsim.gui.property-1.1.3] startup +[3.524s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.529s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.534s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.540s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.544s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.546s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T11:18:15Z [3,526ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T11:18:15Z [3,526ms] [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. +[3.547s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T11:18:15Z [3,529ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T11:18:15Z [3,529ms] [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. +[3.550s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.570s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T11:18:15Z [3,551ms] [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. +2026-09-20T11:18:15Z [3,551ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T11:18:15Z [3,551ms] [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. +2026-09-20T11:18:15Z [3,551ms] [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. +2026-09-20T11:18:15Z [3,552ms] [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. +2026-09-20T11:18:15Z [3,552ms] [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. +2026-09-20T11:18:15Z [3,552ms] [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. +2026-09-20T11:18:15Z [3,552ms] [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. +2026-09-20T11:18:15Z [3,554ms] [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. +2026-09-20T11:18:15Z [3,554ms] [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. +2026-09-20T11:18:15Z [3,555ms] [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. +[3.577s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T11:18:15Z [3,558ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.580s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.590s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.593s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.596s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.598s] [ext: omni.ocio-0.1.1] startup +[3.601s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.616s] [ext: omni.kit.window.console-1.1.4] startup +[3.624s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.629s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T11:18:15Z [3,609ms] [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. +[3.630s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.635s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.639s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.654s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T11:18:15Z [3,635ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.656s] [ext: semantics.schema.editor-2.0.2] startup +[3.664s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.666s] [ext: semantics.schema.property-2.0.1] startup +[3.668s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T11:18:15Z [3,648ms] [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. +2026-09-20T11:18:15Z [3,648ms] [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. +2026-09-20T11:18:15Z [3,648ms] [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. +[3.669s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T11:18:15Z [3,650ms] [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. +2026-09-20T11:18:15Z [3,650ms] [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. +2026-09-20T11:18:15Z [3,650ms] [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. +2026-09-20T11:18:15Z [3,650ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.672s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.683s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.688s] [ext: omni.kit.menu.common-2.0.1] startup +[3.690s] [ext: isaacsim.exp.base-5.1.0] startup +[3.690s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.691s] Simulation App Starting +2026-09-20T11:18:16Z [4,051ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.100s] app ready +[7.633s] Simulation App Startup Complete +[7.974s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T11:18:20Z [8,103ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T11:18:20Z [8,991ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.589] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.728] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T11:19:18Z [66,253ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:19:20Z [68,474ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T11:19:20Z [68,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,772ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,772ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,891ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,891ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,957ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,991ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,991ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,991ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:20Z [68,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,063ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,063ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,875ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,875ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,876ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,876ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,923ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,934ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,934ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,951ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:21Z [69,951ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,578ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:19:22Z [70,579ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:15.470] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:15.509] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T11:19:32Z [80,598ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:25.035] [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. +[00:01:25.037] [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. +2026-09-20T11:19:33Z [81,475ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:19:33Z [81,476ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:19:33Z [81,477ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:19:33Z [81,478ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:19:36Z [84,501ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-20T11:19:56Z [104,160ms] [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 navigate_to_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': None} +2026-09-20T11:21:44Z [212,284ms] [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 +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-20T11:24:28Z [376,906ms] [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 1080 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1200 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1320 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1440 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1560 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1680 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 +2026-09-20T11:25:57Z [465,472ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:57Z [465,472ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:57Z [465,472ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[465.599s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..ee549ee1b558837ac9ddb15ce027e401bb6c6eaa --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3286ef4326993ce93dfb64f58ff68ad411bd07d49e494b408b2b979edb17845e +size 1712 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..e77c6be33d83b27664b177af36d156f32af24556 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019560-f006952/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": 7.759142820551457e-05, + "max_supervised_command_overlap_m": 7.027387890917725e-05, + "flagged_supervised_steps": 0, + "flagged_frames": [], + "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785", + "review_required": false +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5b0cb53a34d8cf1e53c5033a7759d97bb0cef950 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bebc8419373f7b0b739989f6793754026f9e06bef1c235fe146d16c8edfe1419 +size 27125929 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7208a7128e654d1c04ace665b90b0370b03cbb08 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f28963466dba9c81df01ebe47361a6ddb46ed1c29499b26a522d7cdaba1af588 +size 3399626 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/case.json new file mode 100644 index 0000000000000000000000000000000000000000..cd6479b4fa7d5b49f57dc7ca4a7de534ac23a0ce --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019560-f006952", + "kind": "vla", + "episode_id": "00019560", + "instance_id": 956, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019560.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019560.json", + "frame": 6952, + "start_type": "judgement_seed", + "chunk_index": 4, + "chunk_span": [ + 6952, + 10535 + ], + "reason": "Robot stopped making progress with one can uncollected. Both grippers empty from f6951 onwards (verified f7000, f8000, f9000, f10000). No grasp attempts f6952-10535 per grasp_history. Seed at first frame after trash can release where recovery should begin: navigate to and collect the third can. Left arm matches this rollout's pattern (used left for both prior can grasps at f2412 and f6065), though right is also mechanically free." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..605f87d07a2170f27553e13195305473d0ab8fb0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019560-f006952/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019560-f006952", + "episode_id": "00019560", + "instance_id": 956, + "start_type": "judgement_seed", + "source_frame": 6952, + "attempt": "attempt_001", + "completed_at": "2026-09-20T11:27:29+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 1730, + "dataset_frames": 1584, + "dataset_passed": true, + "supervised_frames": 1581, + "dataset_root": "runs/vla-episode_00019560-f006952/attempt_001/dataset", + "video": "runs/vla-episode_00019560-f006952/attempt_001/video.mp4", + "initial_inside": 2, + "final_inside": 3, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 80 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/outcome.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/outcome.json new file mode 100644 index 0000000000000000000000000000000000000000..532233c085108f3fb3ffc9a5f39b148692a97b36 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/outcome.json @@ -0,0 +1,30 @@ +{ + "success": false, + "training_eligible": false, + "status": "error", + "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 + }, + "error": "restore_hold_check_failed", + "traceback": "Traceback (most recent call last):\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py\", line 74, in main\n raise RecoveryFailure(\"restore_hold_check_failed\")\ntask01_recovery.control.RecoveryFailure: restore_hold_check_failed\n", + "driver": { + "returncode": 0, + "wall_seconds": 120 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..5340a90d7fed51665cfa4256cf4e751f6ca24412 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/attempt_001/run.log @@ -0,0 +1,616 @@ +RECOVERY building environment +[00:00:04.126] [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_192322.log +[0.072s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.366s] [ext: omni.metrics.core-0.0.3] startup +[0.367s] [ext: omni.client.lib-1.1.0] startup +[0.384s] [ext: omni.blobkey-1.1.2] startup +[0.385s] [ext: omni.stats-1.0.1] startup +[0.386s] [ext: omni.datastore-0.0.0] startup +[0.398s] [ext: omni.client-1.3.0] startup +[0.402s] [ext: omni.ujitso.default-1.0.0] startup +[0.404s] [ext: omni.hsscclient-1.1.2] startup +[0.509s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.511s] [ext: omni.assets.plugins-0.0.0] startup +[0.513s] [ext: omni.gpu_foundation-0.0.0] startup +[0.525s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-20T11:23:23Z [478ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:23Z [478ms] [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) +[0.528s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-20T11:23:23Z [510ms] [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: 43764 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-20T11:23:24Z [1,183ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.417s] [ext: omni.materialx.libs-1.0.7] startup +[1.425s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.426s] [ext: omni.kit.test-2.0.1] startup +[1.455s] [ext: omni.usd.config-1.0.6] startup +[1.461s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.462s] [ext: omni.usd.libs-1.0.1] startup +[1.581s] [ext: omni.kit.telemetry-0.5.2] startup +[1.603s] [ext: omni.mdl-56.0.3] startup +[1.620s] [ext: omni.iray.libs-0.0.0] startup +[1.625s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.627s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.706s] [ext: omni.kit.pipapi-0.0.0] startup +[1.707s] [ext: omni.appwindow-1.1.10] startup +2026-09-20T11:23:24Z [1,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.710s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-20T11:23:24Z [1,674ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,674ms] [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) +2026-09-20T11:23:24Z [1,680ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,680ms] [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) +[1.730s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.733s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-20T11:23:24Z [1,688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,688ms] [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) +2026-09-20T11:23:24Z [1,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,689ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-09-20T11:23:24Z [1,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-20T11:23:24Z [1,690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.782s] [ext: omni.ui-2.27.1] startup +[1.791s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.792s] [ext: carb.audio-0.1.0] startup +[1.796s] [ext: omni.uiaudio-1.0.0] startup +[1.797s] [ext: omni.kit.uiapp-0.0.0] startup +[1.797s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.800s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.803s] [ext: omni.usd_resolver-1.0.0] startup +[1.809s] [ext: omni.usd.core-1.5.3] startup +[1.812s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.834s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.859s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.864s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.869s] [ext: omni.kit.actions.core-1.0.0] startup +[1.871s] [ext: omni.activity.core-1.0.3] startup +[1.873s] [ext: omni.kit.commands-1.4.10] startup +[1.876s] [ext: usdrt.scenegraph-7.6.1] startup +[1.910s] [ext: omni.resourcemonitor-107.0.1] startup +[1.912s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.914s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.923s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.923s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.927s] [ext: omni.graph.exec-0.9.6] startup +[1.927s] [ext: omni.timeline-1.0.14] startup +[1.929s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.931s] [ext: omni.kit.exec.core-0.13.4] startup +[1.933s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.940s] [ext: omni.usd-1.13.10] startup +[1.967s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.982s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.982s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.989s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.999s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.005s] [ext: omni.usd.schema.flow-107.1.1] startup +[2.005s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.006s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.049s] [ext: omni.inspect-1.0.2] startup +[2.051s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.053s] [ext: omni.graph.core-2.184.5] startup +[2.057s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.058s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.058s] [ext: omni.anim.graph.schema-107.3.3] startup +[2.069s] [ext: omni.anim.navigation.schema-107.3.3] startup +[2.075s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.076s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.081s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.082s] [ext: omni.kit.clipboard-1.0.5] startup +[2.083s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.098s] [ext: omni.ui.scene-1.11.5] startup +[2.104s] [ext: omni.index.libs-380600.8087.0] startup +[2.104s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.115s] [ext: omni.index-1.0.1] startup +[2.116s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.117s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.122s] [ext: omni.volume-0.5.2] startup +[2.127s] [ext: omni.ujitso.client-0.0.0] startup +[2.127s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.129s] [ext: omni.kit.menu.core-1.1.2] startup +[2.130s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-20T11:23:25Z [2,114ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.187s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.188s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.192s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.192s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.200s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.211s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.217s] [ext: omni.kit.context_menu-1.8.6] startup +[2.219s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.222s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.223s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.225s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.232s] [ext: omni.kit.material.library-2.0.7] startup +[2.236s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.236s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.239s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.252s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[2.252s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.254s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.254s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.255s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.256s] [ext: omni.kit.browser.core-2.3.13] startup +[2.260s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.261s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.275s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.282s] [ext: omni.kit.window.file-2.0.5] startup +[2.284s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.285s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.286s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.288s] [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 +[2.310s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.319s] [ext: omni.kit.usdz_export-1.0.9] startup +[2.321s] [ext: omni.graph.action_core-1.1.7] startup +[2.322s] [ext: omni.graph-1.141.2] startup +[2.364s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[2.365s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[2.370s] [ext: omni.graph.action_nodes-1.50.4] startup +[2.379s] [ext: omni.kit.window.stage-2.6.1] startup +[2.388s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.389s] [ext: omni.graph.action-1.130.0] startup +[2.390s] [ext: omni.kit.menu.stage-1.2.7] startup +[2.392s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.396s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.397s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.408s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.422s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.426s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.427s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.428s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.442s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.444s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.445s] [ext: omni.kit.window.property-1.12.1] startup +[2.448s] [ext: omni.ui_query-1.1.8] startup +[2.449s] [ext: omni.kit.property.usd-4.5.12] startup +[2.459s] [ext: omni.kit.menu.create-2.0.1] startup +[2.461s] [ext: isaacsim.core.version-2.0.6] startup +[2.462s] [ext: omni.kit.ui_test-1.3.7] startup +[2.464s] [ext: omni.kit.scripting-107.3.2] startup +[2.469s] [ext: omni.convexdecomposition-107.3.26] startup +[2.473s] [ext: isaacsim.storage.native-1.5.1] startup +[2.475s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.484s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.488s] [ext: omni.kvdb-107.3.26] startup +[2.490s] [ext: omni.usdphysics-107.3.26] startup +[2.493s] [ext: omni.physx.foundation-107.3.26] startup +[2.495s] [ext: omni.localcache-107.3.26] startup +[2.496s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.502s] [ext: omni.physx.cooking-107.3.26] startup +[2.507s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.508s] [ext: omni.physx-107.3.26] startup +[2.523s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.532s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.534s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.540s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.547s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.548s] [ext: isaacsim.gui.components-1.2.1] startup +[2.551s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.555s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.638s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.647s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.652s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.659s] [ext: omni.fabric.commands-1.1.6] startup +[2.661s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.662s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.663s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.676s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.678s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.679s] [ext: omni.debugdraw-0.1.4] startup +[2.685s] [ext: omni.physics-107.3.26] startup +[2.689s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.708s] [ext: omni.physx.commands-107.3.26] startup +[2.714s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.716s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.718s] [ext: omni.physx.ui-107.3.26] startup +[2.744s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.749s] [ext: omni.physx.supportui-107.3.26] startup +[2.762s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.765s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.767s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.771s] [ext: omni.physics.physx-107.3.26] startup +2026-09-20T11:23:25Z [2,724ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.774s] [ext: omni.physics.tensors-107.3.26] startup +[2.778s] [ext: omni.warp.core-1.8.2] startup +[2.969s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.971s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-20T11:23:25Z [2,928ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.977s] [ext: omni.physx.tensors-107.3.26] startup +[2.983s] [ext: isaacsim.core.utils-3.5.1] startup +[2.987s] [ext: omni.graph.image.core-0.6.1] startup +[2.989s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[3.074s] [ext: omni.graph.image.nodes-1.3.1] startup +[3.076s] [ext: omni.kit.stage_templates-2.0.0] startup +[3.079s] [ext: isaacsim.core.prims-0.6.1] startup +[3.097s] [ext: omni.syntheticdata-0.6.13] startup +[3.109s] [ext: isaacsim.core.api-4.8.0] startup +[3.125s] [ext: omni.videoencoding-0.1.2] startup +[3.128s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.129s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.132s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.133s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.134s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.138s] [ext: omni.graph.nodes-1.170.10] startup +[3.148s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.152s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.155s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-20T11:23:26Z [3,107ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.156s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.164s] [ext: omni.warp-1.8.2] startup +[3.168s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.182s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.183s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.194s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.231s] [ext: omni.replicator.core-1.12.27] startup +2026-09-20T11:23:26Z [3,195ms] [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 +2026-09-20T11:23:26Z [3,331ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-20T11:23:26Z [3,331ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-20T11:23:26Z [3,332ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.387s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.390s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.396s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.403s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-20T11:23:26Z [3,357ms] [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. +[3.407s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.411s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.423s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.435s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.442s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.444s] [ext: omni.flowusd-107.1.8] startup +2026-09-20T11:23:26Z [3,401ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.479s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.484s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-20T11:23:26Z [3,471ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.533s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-20T11:23:26Z [3,496ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.545s] [ext: omni.anim.curve.core-1.3.1] startup +[3.588s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-20T11:23:26Z [3,542ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:23:26Z [3,558ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-20T11:23:26Z [3,616ms] [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. +[3.665s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.741s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-20T11:23:26Z [3,700ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.759s] [ext: omni.kit.selection-0.1.6] startup +[3.767s] [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. +[3.840s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-20T11:23:26Z [3,792ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,792ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,792ms] [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. +2026-09-20T11:23:26Z [3,793ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-20T11:23:26Z [3,794ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.844s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.862s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.880s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.891s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-20T11:23:26Z [3,846ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.897s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.903s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-20T11:23:26Z [3,857ms] [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. +2026-09-20T11:23:26Z [3,857ms] [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. +2026-09-20T11:23:26Z [3,858ms] [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. +2026-09-20T11:23:26Z [3,858ms] [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. +2026-09-20T11:23:26Z [3,858ms] [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. +2026-09-20T11:23:26Z [3,858ms] [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. +2026-09-20T11:23:26Z [3,860ms] [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. +2026-09-20T11:23:26Z [3,863ms] [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. +2026-09-20T11:23:26Z [3,867ms] [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. +2026-09-20T11:23:26Z [3,868ms] [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. +2026-09-20T11:23:26Z [3,868ms] [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. +2026-09-20T11:23:26Z [3,868ms] [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. +2026-09-20T11:23:26Z [3,868ms] [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. +2026-09-20T11:23:26Z [3,869ms] [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. +2026-09-20T11:23:26Z [3,869ms] [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. +2026-09-20T11:23:26Z [3,869ms] [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. +[3.919s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-20T11:23:26Z [3,871ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.922s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-20T11:23:26Z [3,876ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-20T11:23:26Z [3,876ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.926s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-20T11:23:26Z [3,880ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.929s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-20T11:23:26Z [3,882ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.931s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.941s] [ext: omni.isaac.utils-2.0.6] startup +[3.944s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.953s] [ext: isaacsim.app.about-2.0.11] startup +[3.957s] [ext: omni.isaac.version-2.0.7] startup +2026-09-20T11:23:26Z [3,909ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.958s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.959s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-20T11:23:26Z [3,912ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-20T11:23:26Z [3,912ms] [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. +2026-09-20T11:23:26Z [3,913ms] [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. +2026-09-20T11:23:26Z [3,914ms] [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. +2026-09-20T11:23:26Z [3,916ms] [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. +2026-09-20T11:23:26Z [3,918ms] [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. +2026-09-20T11:23:26Z [3,920ms] [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. +2026-09-20T11:23:26Z [3,920ms] [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. +2026-09-20T11:23:26Z [3,920ms] [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. +2026-09-20T11:23:26Z [3,921ms] [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. +2026-09-20T11:23:26Z [3,922ms] [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. +2026-09-20T11:23:26Z [3,923ms] [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. +[3.973s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-20T11:23:26Z [3,935ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-20T11:23:26Z [3,936ms] [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. +[3.985s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[4.004s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-20T11:23:26Z [3,956ms] [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. +[4.005s] [ext: omni.sensors.nv.common-3.0.0] startup +[4.031s] [ext: omni.kit.property.audio-1.0.16] startup +[4.033s] [ext: omni.kit.property.camera-1.0.10] startup +[4.035s] [ext: omni.sensors.net-1.0.0] startup +[4.040s] [ext: omni.sensors.nv.materials-2.0.0] startup +[4.047s] [ext: omni.kit.property.geometry-2.0.4] startup +[4.050s] [ext: omni.kit.property.light-1.0.12] startup +[4.118s] [ext: omni.kit.property.material-1.11.9] startup +[4.124s] [ext: omni.sensors.nv.ids-2.0.0] startup +[4.126s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[4.129s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[4.136s] [ext: omni.hydra.scene_api-0.1.2] startup +[4.143s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[4.147s] [ext: omni.sensors.nv.radar-3.0.0] startup +[4.151s] [ext: omni.kit.property.render-1.2.1] startup +[4.152s] [ext: omni.kit.property.transform-1.5.13] startup +[4.155s] [ext: isaacsim.gui.property-1.1.3] startup +[4.157s] [ext: isaacsim.sensors.physx-2.3.2] startup +[4.165s] [ext: isaacsim.sensors.camera-1.3.6] startup +[4.172s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[4.179s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.183s] [ext: omni.kit.property.bundle-1.4.1] startup +[4.189s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-20T11:23:27Z [4,141ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-20T11:23:27Z [4,141ms] [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. +[4.190s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-20T11:23:27Z [4,142ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-20T11:23:27Z [4,142ms] [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. +[4.191s] [ext: isaacsim.replicator.writers-1.0.17] startup +[4.204s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-20T11:23:27Z [4,157ms] [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. +2026-09-20T11:23:27Z [4,158ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-20T11:23:27Z [4,158ms] [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. +2026-09-20T11:23:27Z [4,158ms] [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. +2026-09-20T11:23:27Z [4,158ms] [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. +2026-09-20T11:23:27Z [4,159ms] [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. +2026-09-20T11:23:27Z [4,160ms] [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. +2026-09-20T11:23:27Z [4,160ms] [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. +2026-09-20T11:23:27Z [4,162ms] [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. +2026-09-20T11:23:27Z [4,162ms] [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. +2026-09-20T11:23:27Z [4,162ms] [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. +[4.212s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-20T11:23:27Z [4,166ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[4.218s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[4.224s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[4.229s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.232s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.235s] [ext: omni.ocio-0.1.1] startup +[4.238s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.251s] [ext: omni.kit.window.console-1.1.4] startup +[4.257s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.261s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-20T11:23:27Z [4,213ms] [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. +[4.262s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.267s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.272s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.281s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-20T11:23:27Z [4,233ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.283s] [ext: semantics.schema.editor-2.0.2] startup +[4.287s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.288s] [ext: semantics.schema.property-2.0.1] startup +[4.290s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-20T11:23:27Z [4,242ms] [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. +2026-09-20T11:23:27Z [4,242ms] [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. +2026-09-20T11:23:27Z [4,243ms] [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. +[4.292s] [ext: omni.isaac.core-4.0.7] startup +2026-09-20T11:23:27Z [4,245ms] [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. +2026-09-20T11:23:27Z [4,245ms] [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. +2026-09-20T11:23:27Z [4,245ms] [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. +2026-09-20T11:23:27Z [4,245ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.294s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.307s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.315s] [ext: omni.kit.menu.common-2.0.1] startup +[4.317s] [ext: isaacsim.exp.base-5.1.0] startup +[4.318s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.320s] Simulation App Starting +2026-09-20T11:23:27Z [4,426ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-20T11:23:27Z [4,451ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.526s] app ready +[10.844s] Simulation App Startup Complete +[11.188s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-20T11:23:34Z [11,272ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-20T11:23:35Z [12,268ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:16.497] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:16.924] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-20T11:24:41Z [78,322ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:24:43Z [80,533ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-20T11:24:43Z [80,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:43Z [80,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:43Z [80,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:43Z [80,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:43Z [80,856ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:43Z [80,856ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:43Z [81,007ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:43Z [81,007ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,122ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,122ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,123ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,123ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,123ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,124ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,183ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,269ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,270ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,276ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,276ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,991ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,991ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:44Z [81,992ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,036ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,036ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,067ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,074ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,082ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,082ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,092ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,092ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,101ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,353ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,354ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,354ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,664ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,664ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,665ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,665ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,692ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-20T11:24:45Z [82,781ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:30.382] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:30.425] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-20T11:24:57Z [94,614ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:43.539] [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. +[00:01:43.543] [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. +2026-09-20T11:25:02Z [99,359ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:02Z [99,362ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:02Z [99,363ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:02Z [99,365ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:05Z [102,323ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 74, in main + raise RecoveryFailure("restore_hold_check_failed") +task01_recovery.control.RecoveryFailure: restore_hold_check_failed + +2026-09-20T11:25:08Z [105,652ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:08Z [105,652ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-20T11:25:08Z [105,652ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[105.802s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..7f212e205c32a93a4bca51ea7bb9473824403487 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019580-f000000", + "kind": "vla", + "episode_id": "00019580", + "instance_id": 958, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019580.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019580.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 5300 + ], + "reason": "Skill A (pick up trash can) never ran. Robot drove past the trash can and grasped can_114 with right hand (IsGrasping flip f5152). Execution of the pick was clean but out of order; the plan requires trash can first. Seed at f0 restores the demo-native starting state with both hands empty and trash can upright in kitchen." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..c27beba9b2064867084e110324023760eb3fa8a6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f000000/complete.json @@ -0,0 +1,25 @@ +{ + "case_id": "vla-episode_00019580-f000000", + "episode_id": "00019580", + "instance_id": 958, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-20T11:25:18+00:00", + "success": false, + "status": "error", + "error": "restore_hold_check_failed", + "teacher_steps": null, + "dataset_frames": null, + "dataset_passed": null, + "supervised_frames": null, + "dataset_root": null, + "video": null, + "initial_inside": 0, + "final_inside": 0, + "initial_held": null, + "already_complete_at_start": false, + "model_call_count": 0, + "sim_wall_seconds": 120, + "export": "no_steps_recorded" +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..08467de638cec0b5a877fb283f182c9762b78be1 --- /dev/null +++ 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"shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "observation.robot2cam_pose.zed_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + }, + "total_episodes": 1, + "total_frames": 1089, + "total_tasks": 1, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "robot_type": "R1Pro", + "splits": { + "train": "0:1" + } +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/dataset/meta/stats.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/dataset/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..322c16df6253f87550d4fd81c26aeb2a7fc19c76 --- /dev/null +++ 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Clean execution but out of order: this fills the second hand while the trash can is still unheld and by now tipped over on floor_1 (OnTop flip f4436). Seed at row start; this state (both cans loaded, trash can tipped) is not present in demos." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28a71719978217d6e4cd47ce73d15df7702ddbf4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/events.jsonl @@ -0,0 +1,145 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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"blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4", "body1": "/World/scene_0/controllable__r1pro__robot_r1/torso_link2"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/base_link", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/torso_link2", "body1": "/World/scene_0/controllable__r1pro__robot_r1/right_arm_link4"}], "actual_q": [-2.5656774044036865, 0.3193990886211395, 0.017175666987895966, -0.009661815129220486, 0.08511674404144287, 2.080190896987915, 0.1754666566848755, -1.8315097093582153, -1.7743061780929565, 0.5684592723846436, -0.5895462036132812, -0.6940172910690308, 0.026464736089110374, -0.10277599841356277, -0.044522419571876526, -0.10868915915489197, -0.719368040561676, -0.16832859814167023, 0.22112949192523956, -0.2801368236541748, 0.6915397047996521, 0.5433997511863708, -0.12522684037685394, -0.22347062826156616, 0.04999922588467598, 0.04999972879886627, 0.05000000074505806, 0.022937126457691193]} +{"step": 701, "event": "actions_rejected", "start": 671, "end": 701, "reason": "eef_execution_blocked"} +{"step": 701, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 2} +{"step": 701, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "can_of_soda_114"}, "eef_world": {"left": [[3.906358242034912, 3.4684481620788574, 0.6281344890594482], [-0.7984064221382141, 0.5195420384407043, 0.19681519269943237, 0.2321358621120453]], "right": [[4.436628818511963, 3.580827474594116, 0.45744484663009644], [-0.6971879601478577, 0.7061475515365601, 0.10955490916967392, 0.05729147419333458]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.421968936920166, 3.5949151515960693, 0.3987903296947479], "can__of__soda.n.01_3": [4.00490665435791, 5.027426719665527, 0.06461402028799057], "can__of__soda.n.01_1": [5.21095085144043, 4.765154838562012, 0.07145719230175018], "ashcan.n.01_1": [4.328970432281494, 3.5103812217712402, 0.1449168473482132]}, "robot_pose": [[4.3243937492370605, 3.388343572616577, 0.018886208534240723], [0.04081857204437256, 0.007666616700589657, 0.6421017646789551, 0.7654935717582703]]}} +{"step": 709, "event": "primitive_start", "operation": "deposit:can_of_soda_114", "attempt": 3} +{"step": 709, "event": "stage", "name": "deposit_can", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "can_of_soda_114"}, "eef_world": {"left": [[3.906351327896118, 3.4684228897094727, 0.628139317035675], [-0.7984029054641724, 0.5195519924163818, 0.19683092832565308, 0.23211254179477692]], "right": [[4.436936855316162, 3.5807390213012695, 0.45739948749542236], [-0.6978650093078613, 0.7055371403694153, 0.10890860855579376, 0.05780034512281418]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.422366619110107, 3.594792127609253, 0.39871516823768616], "can__of__soda.n.01_3": [4.00490665435791, 5.027426719665527, 0.06461402028799057], "can__of__soda.n.01_1": [5.21095085144043, 4.765154838562012, 0.07145719230175018], "ashcan.n.01_1": [4.328968524932861, 3.5103681087493896, 0.14491704106330872]}, "robot_pose": [[4.3243889808654785, 3.388327121734619, 0.01888856291770935], [0.040826234966516495, 0.007668456993997097, 0.6421024203300476, 0.7654926776885986]]}} +{"step": 709, "event": "approach_candidates", "key": "deposit:can_of_soda_114", "target": [4.328968524932861, 3.5103681087493896], "evaluated": 36, "traversable": 34, "previously_tried": 2, "chosen": {"xy": [4.053645542693268, 2.840220919356868], "yaw": 1.5332892850185083, "delta": 0.0, "distance": 0.68}} +{"step": 868, "event": "eef_target", "arm": "right", "body_xyz": [0.22675852582740835, -0.04886692894932042, 0.4338812171926202], "world_xyz": [4.163045406341553, 3.001885414123535, 0.46553879976272594], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 868, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 868, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 923, "event": "joint_tracking", "max_error_rad": 0.0018804073333740234} +{"step": 923, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.163374900817871, 3.0015711784362793, 0.46549680829048157], "desired_xyz": [4.163045406341553, 3.001885414123535, 0.46553879976272594], "error_m": 0.0004572460615584591} +{"step": 923, "event": "release_point_selected", "xy": [4.04692006111145, 2.9281694889068604], "occupied": 0, "strategy": "center", "ring_radius_m": 0.0, "min_distance_m": null} +{"step": 923, "event": "eef_target", "arm": "right", "body_xyz": [0.22727334777480326, -0.04825670558798829, 0.44213424684559777], "world_xyz": [4.163374900817871, 3.0015711784362793, 0.47384022116661095], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 923, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 923, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 963, "event": "joint_tracking", "max_error_rad": 0.0018882453441619873} +{"step": 963, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.163659572601318, 3.0013821125030518, 0.4737650156021118], "desired_xyz": [4.163374900817871, 3.0015711784362793, 0.47384022116661095], "error_m": 0.00034991402991289296} +{"step": 963, "event": "eef_target", "arm": "right", "body_xyz": [0.1973176026209275, -0.016654882324504933, 0.4404288044315846], "world_xyz": [4.130635182062785, 2.972630580266317, 0.4737900841236114], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 963, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 963, "event": "self_collision_guard", "rejected_self_collision": 1, "rejected_held_clearance": 0, "worst_rejected_pair": [["right_arm_link4", "torso_link2"], 0.00039484213105693035], "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 985, "event": "joint_tracking", "max_error_rad": 0.0019532740116119385} +{"step": 985, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.130957126617432, 2.972364902496338, 0.47372812032699585], "desired_xyz": [4.130635182062785, 2.972630580266317, 0.4737900841236114], "error_m": 0.0004219863573844112} +{"step": 985, "event": 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+{"step": 1007, "event": "eef_target", "arm": "right", "body_xyz": [0.13804683775084714, 0.047106399474204114, 0.43712490988614083], "world_xyz": [4.064586400985718, 2.9151275157928467, 0.47384022116661084], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1007, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1007, "event": "self_collision_guard", "rejected_self_collision": 1, "rejected_held_clearance": 0, "worst_rejected_pair": [["right_arm_link4", "torso_link2"], 0.0006902634240967351], "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1029, "event": "joint_tracking", "max_error_rad": 0.0018889904022216797} +{"step": 1029, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.064916610717773, 2.9147984981536865, 0.4737933874130249], "desired_xyz": [4.064586400985718, 2.9151275157928467, 0.47384022116661084], "error_m": 0.00046849170163167753} +{"step": 1029, "event": "release_point_selected", "xy": [4.046877980232239, 2.9270756244659424], "occupied": 0, "strategy": "center", "ring_radius_m": 0.0, "min_distance_m": null} +{"step": 1029, "event": "eef_target", "arm": "right", "body_xyz": [0.13459194841886982, 0.042434096039722376, 0.3951671748047746], "world_xyz": [4.064533997240008, 2.914032756401728, 0.43148306651934293], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1029, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1029, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1069, "event": "joint_tracking", "max_error_rad": 0.03227972984313965} +{"step": 1069, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.066164970397949, 2.9243435859680176, 0.4484979510307312], "desired_xyz": [4.064533997240008, 2.914032756401728, 0.43148306651934293], "error_m": 0.01996195317905728} +{"step": 1069, "event": "pre_release_alignment", "error_m": 0.011872566443236844, "actual": [4.048706531524658, 2.9388065338134766, 0.39105749130249023], "target": [4.046877980232239, 2.9270756244659424, 0.3734170585870743]} +{"step": 1089, "event": "grounded_drop_check", "footprint": {"fits": true, "max_normalized_radius": 0.7450729833897644, "margin_m": 0.008, "geometry": "collision_mesh_vertices", "vertices": 56, "hypothetical_centering": false}, "upright": false, "clearance_m": 0.03909415006637573, "speed_m_s": 0.019814930134636692, "others_inside": false} +{"step": 1089, "event": "eef_target", "arm": "right", "body_xyz": [0.13320593687897866, 0.03980405539317919, 0.3703128700020485], "world_xyz": [4.064533997240008, 2.914032756401728, 0.4064830665193427], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1089, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1089, "event": "self_collision_guard", "rejected_self_collision": 12, "rejected_held_clearance": 0, "worst_rejected_pair": [["right_arm_link4", "torso_link2"], 0.0011774378617562618], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1089, "event": "actions_rejected", "start": 1089, "end": 1089, "reason": "ik_infeasible:right:[0.133 0.04 0.37 ]"} +{"step": 1089, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "ik_infeasible:right:[0.133 0.04 0.37 ]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..44b69aa2f1fa7b7866a8bc6f5c3b203d99fa528d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1089 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 703, in deposit\n self.r.eef_world(arm, target[:3, 3], quat, steps=18)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:right:[0.133 0.04 0.37 ]\n", + "steps": 1089, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": "can_of_soda_114" + }, + "eef_world": { + "left": [ + [ + 3.5951879024505615, + 2.627718448638916, + 0.6956979632377625 + ], + [ + -0.8826495409011841, + 0.39202880859375, + 0.2324536293745041, + 0.11492819339036942 + ] + ], + "right": [ + [ + 4.06622314453125, + 2.924245834350586, + 0.44858208298683167 + ], + [ + -0.7447842955589294, + 0.6502498388290405, + 0.13643379509449005, + 0.06210790574550629 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 4.048778057098389, + 2.938850164413452, + 0.3910517990589142 + ], + "can__of__soda.n.01_3": [ + 4.00490665435791, + 5.027426719665527, + 0.06461402028799057 + ], + "can__of__soda.n.01_1": [ + 5.21095085144043, + 4.765154838562012, + 0.07145719230175018 + ], + "ashcan.n.01_1": [ + 4.0565667152404785, + 2.9215612411499023, + 0.15069881081581116 + ] + }, + "robot_pose": [ + [ + 4.058688640594482, + 2.8045847415924072, + 0.026421532034873962 + ], + [ + 0.06194658204913139, + 0.016189947724342346, + 0.6936355829238892, + 0.7174749374389648 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 360 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..58a8992317a371f0397d2eaed24d8604de72fd2d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30dc0eb8828e2be237f66aa915f952fabfb2b0c5b28b3a6a4101b16e56271fb8 +size 490720 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..930ea90bb9b5e78e409ff9db3fa6f12d92846c0c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/run.log @@ -0,0 +1,643 @@ +RECOVERY building environment +[00:00:03.474] [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_233632.log +[0.038s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.088s] [ext: omni.metrics.core-0.0.3] startup +[0.088s] [ext: omni.client.lib-1.1.0] startup +[0.096s] [ext: omni.blobkey-1.1.2] startup +[0.096s] [ext: omni.stats-1.0.1] startup +[0.097s] [ext: omni.datastore-0.0.0] startup +[0.101s] [ext: omni.client-1.3.0] startup +[0.104s] [ext: omni.ujitso.default-1.0.0] startup +[0.105s] [ext: omni.hsscclient-1.1.2] startup +[0.109s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.110s] [ext: omni.assets.plugins-0.0.0] startup +[0.110s] [ext: omni.gpu_foundation-0.0.0] startup +[0.115s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T15:36:32Z [99ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:32Z [99ms] [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) +[0.116s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T15:36:32Z [125ms] [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: 47042 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T15:36:33Z [702ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.836s] [ext: omni.materialx.libs-1.0.7] startup +[0.841s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.842s] [ext: omni.kit.test-2.0.1] startup +[0.857s] [ext: omni.usd.config-1.0.6] startup +[0.858s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.859s] [ext: omni.usd.libs-1.0.1] startup +[0.949s] [ext: omni.kit.telemetry-0.5.2] startup +[0.972s] [ext: omni.mdl-56.0.3] startup +[0.987s] [ext: omni.iray.libs-0.0.0] startup +[0.991s] [ext: omni.mdl.neuraylib-0.2.12] startup +[0.993s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.061s] [ext: omni.kit.pipapi-0.0.0] startup +[1.061s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T15:36:33Z [1,046ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,046ms] [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) +[1.064s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T15:36:33Z [1,076ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,076ms] [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) +2026-09-21T15:36:33Z [1,083ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,083ms] [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) +[1.101s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.111s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T15:36:33Z [1,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,097ms] [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) +2026-09-21T15:36:33Z [1,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,098ms] [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) +2026-09-21T15:36:33Z [1,100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T15:36:33Z [1,100ms] [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) +[1.157s] [ext: omni.ui-2.27.1] startup +[1.164s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.164s] [ext: carb.audio-0.1.0] startup +[1.168s] [ext: omni.uiaudio-1.0.0] startup +[1.169s] [ext: omni.kit.uiapp-0.0.0] startup +[1.169s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.171s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.174s] [ext: omni.usd_resolver-1.0.0] startup +[1.177s] [ext: omni.usd.core-1.5.3] startup +[1.180s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.199s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.217s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.220s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.222s] [ext: omni.kit.actions.core-1.0.0] startup +[1.232s] [ext: omni.activity.core-1.0.3] startup +[1.233s] [ext: omni.kit.commands-1.4.10] startup +[1.235s] [ext: usdrt.scenegraph-7.6.1] startup +[1.259s] [ext: omni.resourcemonitor-107.0.1] startup +[1.260s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.261s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.268s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.268s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.271s] [ext: omni.graph.exec-0.9.6] startup +[1.271s] [ext: omni.timeline-1.0.14] startup +[1.272s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.274s] [ext: omni.kit.exec.core-0.13.4] startup +[1.275s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.280s] [ext: omni.usd-1.13.10] startup +[1.301s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.316s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.316s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.325s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.332s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.337s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.345s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.345s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.370s] [ext: omni.inspect-1.0.2] startup +[1.371s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.372s] [ext: omni.graph.core-2.184.5] startup +[1.375s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.376s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.376s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.382s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.385s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.386s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.389s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.389s] [ext: omni.kit.clipboard-1.0.5] startup +[1.390s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.396s] [ext: omni.ui.scene-1.11.5] startup +[1.399s] [ext: omni.index.libs-380600.8087.0] startup +[1.399s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.405s] [ext: omni.index-1.0.1] startup +[1.405s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.406s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.408s] [ext: omni.volume-0.5.2] startup +[1.409s] [ext: omni.ujitso.client-0.0.0] startup +[1.410s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.411s] [ext: omni.kit.menu.core-1.1.2] startup +[1.411s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T15:36:34Z [1,411ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.444s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.444s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.447s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.447s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.451s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.458s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.462s] [ext: omni.kit.context_menu-1.8.6] startup +[1.463s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.466s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.466s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.468s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.474s] [ext: omni.kit.material.library-2.0.7] startup +[1.477s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.477s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.480s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.492s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.492s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.493s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.493s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.493s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.494s] [ext: omni.kit.browser.core-2.3.13] startup +[1.496s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.497s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.504s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.507s] [ext: omni.kit.window.file-2.0.5] startup +[1.509s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.509s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.509s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.511s] [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 +[1.526s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.533s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.534s] [ext: omni.graph.action_core-1.1.7] startup +[1.535s] [ext: omni.graph-1.141.2] startup +[1.561s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.562s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.566s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.570s] [ext: omni.kit.window.stage-2.6.1] startup +[1.577s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.578s] [ext: omni.graph.action-1.130.0] startup +[1.579s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.581s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.584s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.585s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.591s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.603s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.609s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.610s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.611s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.625s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.626s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.628s] [ext: omni.kit.window.property-1.12.1] startup +[1.631s] [ext: omni.ui_query-1.1.8] startup +[1.632s] [ext: omni.kit.property.usd-4.5.12] startup +[1.644s] [ext: omni.kit.menu.create-2.0.1] startup +[1.646s] [ext: isaacsim.core.version-2.0.6] startup +[1.647s] [ext: omni.kit.ui_test-1.3.7] startup +[1.648s] [ext: omni.kit.scripting-107.3.2] startup +[1.651s] [ext: omni.convexdecomposition-107.3.26] startup +[1.662s] [ext: isaacsim.storage.native-1.5.1] startup +[1.664s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.670s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.673s] [ext: omni.kvdb-107.3.26] startup +[1.674s] [ext: omni.usdphysics-107.3.26] startup +[1.676s] [ext: omni.physx.foundation-107.3.26] startup +[1.678s] [ext: omni.localcache-107.3.26] startup +[1.679s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.683s] [ext: omni.physx.cooking-107.3.26] startup +[1.686s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.686s] [ext: omni.physx-107.3.26] startup +[1.694s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.698s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.699s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.701s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.708s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.709s] [ext: isaacsim.gui.components-1.2.1] startup +[1.712s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.715s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.770s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.775s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.781s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.785s] [ext: omni.fabric.commands-1.1.6] startup +[1.787s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.788s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.790s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.797s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.799s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.799s] [ext: omni.debugdraw-0.1.4] startup +[1.803s] [ext: omni.physics-107.3.26] startup +[1.805s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.821s] [ext: omni.physx.commands-107.3.26] startup +[1.825s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.827s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.829s] [ext: omni.physx.ui-107.3.26] startup +[1.849s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.853s] [ext: omni.physx.supportui-107.3.26] startup +[1.862s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.863s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.864s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.868s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T15:36:34Z [1,853ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.870s] [ext: omni.physics.tensors-107.3.26] startup +[1.873s] [ext: omni.warp.core-1.8.2] startup +[1.979s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.981s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T15:36:34Z [1,969ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.986s] [ext: omni.physx.tensors-107.3.26] startup +[1.991s] [ext: isaacsim.core.utils-3.5.1] startup +[1.993s] [ext: omni.graph.image.core-0.6.1] startup +[1.995s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.068s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.070s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.072s] [ext: isaacsim.core.prims-0.6.1] startup +[2.086s] [ext: omni.syntheticdata-0.6.13] startup +[2.095s] [ext: isaacsim.core.api-4.8.0] startup +[2.116s] [ext: omni.videoencoding-0.1.2] startup +[2.118s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.119s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.121s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.122s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.123s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.126s] [ext: omni.graph.nodes-1.170.10] startup +[2.134s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.137s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.139s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T15:36:34Z [2,123ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.140s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.145s] [ext: omni.warp-1.8.2] startup +[2.149s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.161s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.167s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.209s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.254s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T15:36:34Z [2,246ms] [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 +2026-09-21T15:36:34Z [2,315ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T15:36:34Z [2,315ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T15:36:34Z [2,315ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.334s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.338s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.344s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.352s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T15:36:34Z [2,336ms] [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. +[2.357s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.367s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.412s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.483s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.486s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.491s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T15:36:35Z [2,478ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.502s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.504s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T15:36:35Z [2,493ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.511s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T15:36:35Z [2,515ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.545s] [ext: omni.anim.curve.core-1.3.1] 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. +[2.698s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T15:36:35Z [2,687ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:36:35Z [2,688ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T15:36:35Z [2,701ms] [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. +[2.717s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.726s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T15:36:35Z [2,710ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.727s] [ext: omni.kit.selection-0.1.6] startup +[2.729s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.732s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T15:36:35Z [2,717ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,717ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,717ms] [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. +2026-09-21T15:36:35Z [2,718ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,718ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,719ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T15:36:35Z [2,719ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.735s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.748s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.756s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.763s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T15:36:35Z [2,750ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.767s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.772s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T15:36:35Z [2,758ms] [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. +2026-09-21T15:36:35Z [2,758ms] [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. +2026-09-21T15:36:35Z [2,759ms] [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. +2026-09-21T15:36:35Z [2,759ms] [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. +2026-09-21T15:36:35Z [2,759ms] [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. +2026-09-21T15:36:35Z [2,760ms] [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. +2026-09-21T15:36:35Z [2,767ms] [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. +2026-09-21T15:36:35Z [2,767ms] [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. +2026-09-21T15:36:35Z [2,769ms] [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. +2026-09-21T15:36:35Z [2,770ms] [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. +2026-09-21T15:36:35Z [2,770ms] [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. +2026-09-21T15:36:35Z [2,770ms] [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. +2026-09-21T15:36:35Z [2,771ms] [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. +2026-09-21T15:36:35Z [2,772ms] [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. +2026-09-21T15:36:35Z [2,772ms] [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. +2026-09-21T15:36:35Z [2,773ms] [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. +[2.790s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T15:36:35Z [2,774ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.791s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T15:36:35Z [2,777ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T15:36:35Z [2,778ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.794s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T15:36:35Z [2,778ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.796s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T15:36:35Z [2,781ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.797s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.802s] [ext: omni.isaac.utils-2.0.6] startup +[2.804s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.811s] [ext: isaacsim.app.about-2.0.11] startup +[2.814s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T15:36:35Z [2,798ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.815s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.816s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T15:36:35Z [2,802ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T15:36:35Z [2,802ms] [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. +2026-09-21T15:36:35Z [2,802ms] [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. +2026-09-21T15:36:35Z [2,803ms] [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. +2026-09-21T15:36:35Z [2,803ms] [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. +2026-09-21T15:36:35Z [2,805ms] [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. +2026-09-21T15:36:35Z [2,805ms] [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. +2026-09-21T15:36:35Z [2,805ms] [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. +2026-09-21T15:36:35Z [2,806ms] [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. +2026-09-21T15:36:35Z [2,806ms] [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. +2026-09-21T15:36:35Z [2,806ms] [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. +2026-09-21T15:36:35Z [2,807ms] [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. +[2.825s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T15:36:35Z [2,819ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T15:36:35Z [2,820ms] [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. +[2.836s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.845s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T15:36:35Z [2,829ms] [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. +[2.846s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.859s] [ext: omni.kit.property.audio-1.0.16] startup +[2.861s] [ext: omni.kit.property.camera-1.0.10] startup +[2.863s] [ext: omni.sensors.net-1.0.0] startup +[2.866s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.878s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.882s] [ext: omni.kit.property.light-1.0.12] startup +[2.919s] [ext: omni.kit.property.material-1.11.9] startup +[2.924s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.926s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.927s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.932s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.938s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.941s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.944s] [ext: omni.kit.property.render-1.2.1] startup +[2.945s] [ext: omni.kit.property.transform-1.5.13] startup +[2.948s] [ext: isaacsim.gui.property-1.1.3] startup +[2.949s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.954s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.961s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.969s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.973s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.978s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T15:36:35Z [2,963ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T15:36:35Z [2,963ms] [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. +[2.980s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T15:36:35Z [2,965ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T15:36:35Z [2,965ms] [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. +[2.981s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.995s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T15:36:35Z [2,981ms] [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. +2026-09-21T15:36:35Z [2,981ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T15:36:35Z [2,981ms] [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. +2026-09-21T15:36:35Z [2,981ms] [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. +2026-09-21T15:36:35Z [2,982ms] [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. +2026-09-21T15:36:35Z [2,982ms] [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. +2026-09-21T15:36:35Z [2,982ms] [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. +2026-09-21T15:36:35Z [2,982ms] [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. +2026-09-21T15:36:35Z [2,984ms] [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. +2026-09-21T15:36:35Z [2,984ms] [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. +2026-09-21T15:36:35Z [2,984ms] [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. +[3.001s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T15:36:35Z [2,987ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.004s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.016s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.020s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.022s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.023s] [ext: omni.ocio-0.1.1] startup +[3.027s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.036s] [ext: omni.kit.window.console-1.1.4] startup +[3.041s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.044s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T15:36:35Z [3,029ms] [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. +[3.045s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.052s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.057s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.070s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T15:36:35Z [3,054ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.071s] [ext: semantics.schema.editor-2.0.2] startup +[3.076s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.078s] [ext: semantics.schema.property-2.0.1] startup +[3.079s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T15:36:35Z [3,064ms] [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. +2026-09-21T15:36:35Z [3,064ms] [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. +2026-09-21T15:36:35Z [3,065ms] [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. +[3.081s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T15:36:35Z [3,067ms] [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. +2026-09-21T15:36:35Z [3,067ms] [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. +2026-09-21T15:36:35Z [3,067ms] [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. +2026-09-21T15:36:35Z [3,067ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.084s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.093s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.098s] [ext: omni.kit.menu.common-2.0.1] startup +[3.101s] [ext: isaacsim.exp.base-5.1.0] startup +[3.102s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.103s] Simulation App Starting +2026-09-21T15:36:35Z [3,148ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T15:36:35Z [3,172ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.217s] app ready +[5.386s] Simulation App Startup Complete +[5.723s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T15:36:38Z [5,835ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T15:36:39Z [6,673ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.198] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.296] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T15:37:31Z [58,700ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:37:33Z [60,648ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T15:37:33Z [60,877ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,877ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [60,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,026ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,026ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,061ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,062ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,095ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,161ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:33Z [61,168ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,833ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,834ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,834ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,863ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,863ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,882ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,891ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,891ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,907ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [61,907ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,336ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,336ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,337ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:34Z [62,364ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T15:37:35Z [62,452ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T15:37:35Z [62,453ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:07.246] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:07.294] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T15:37:44Z [71,420ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:15.760] [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. +[00:01:15.763] [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. +2026-09-21T15:37:44Z [72,266ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:37:44Z [72,267ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:37:44Z [72,268ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:37:44Z [72,269ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:37:47Z [75,046ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T15:37:54Z [81,563ms] [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 +2026-09-21T15:38:00Z [88,194ms] [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 +2026-09-21T15:38:56Z [143,482ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 703, in deposit + self.r.eef_world(arm, target[:3, 3], quat, steps=18) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:right:[0.133 0.04 0.37 ] + +2026-09-21T15:42:28Z [355,681ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:42:28Z [355,681ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T15:42:28Z [355,681ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[355.807s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..970ad05bb1d4ae699d1686d6d38c4753534cc2ef --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4619fe4c2c8847af97f067a222a6a057a2170450b6011e4a83a06edc7a61608f +size 1217 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c00f07cb312ae23fe66936952d8d70ac75b8d446 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e93000ee78f7378d4d2769ccc35c1c2598748a5079e340099afbf376e29254ad +size 17119140 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4a0dd77dbecc7ce8232d5e464cace231a7449caa --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:758fe0fe8f09d5d80bde83f34b84f64bbaae7d767a7ba977a8ffddbd2b8925c8 +size 2615002 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/case.json new file mode 100644 index 0000000000000000000000000000000000000000..335134d471639501ad920d3b5f8b99cdc517732c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019580-f005301", + "kind": "vla", + "episode_id": "00019580", + "instance_id": 958, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019580.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019580.json", + "frame": 5301, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 5301, + 5700 + ], + "reason": "Left grasps can_115 at f5572 (IsGrasping flip). Clean execution but out of order: this fills the second hand while the trash can is still unheld and by now tipped over on floor_1 (OnTop flip f4436). Seed at row start; this state (both cans loaded, trash can tipped) is not present in demos." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..6909ff7326269b2cebe0e945c18b70d6b9a484c5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005301/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019580-f005301", + "episode_id": "00019580", + "instance_id": 958, + "start_type": "judgement_seed", + "source_frame": 5301, + "attempt": "attempt_001", + "completed_at": "2026-09-21T15:43:29+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:right:[0.133 0.04 0.37 ]", + "teacher_steps": 1089, + "dataset_frames": 1089, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019580-f005301/attempt_001/dataset", + "video": "runs/vla-episode_00019580-f005301/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": "can_of_soda_114" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 60 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3225671ce052e6ac88142e8f0a0a428590c706fc --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c5c0af3dfa68c14198c745bce34b6bfb6f54c4d476c463f1f5bf5cc62001514 +size 455802 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..eaf1dccc5181533252898f9aa5041636ec8c81b8 --- /dev/null +++ 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Both a placement failure and ordering failure. Seed at row start with the degraded scene (tipped trash can) as the recovery test." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc0bfdc27d2100afbb07bba003181ff05b36a51a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/events.jsonl @@ -0,0 +1,88 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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0.0482424795627594], [0.12530505657196045, 0.023566141724586487, 0.6384199261665344, 0.7590542435646057]]}} +{"step": 834, "event": "approach_candidates", "key": "deposit:can_of_soda_115", "target": [5.069910526275635, 4.115623950958252], "evaluated": 33, "traversable": 29, "previously_tried": 2, "chosen": {"xy": [4.9693284457239475, 3.4547281610852236], "yaw": 1.0364805952757594, "delta": -0.4, "distance": 0.62}} +{"step": 834, "event": "navigation_base_instability", "height_m": 0.0482424795627594, "tilt_rad": 0.25569970400578207, "allowed": [0.05, 0.2], "hard": false, "event_index": 1} +{"step": 879, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.25570034899664545, "height_m": 0.04824252426624298} +{"step": 879, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.25570034899664545, "height_m": 0.04824252426624298, "translation_cap": 0.15, "rotation_cap": 0.175, "soft_event_index": 1} +{"step": 879, "event": "navigation_base_instability", "height_m": 0.04824252426624298, "tilt_rad": 0.25570034899664545, "allowed": [0.05, 0.2], "hard": false, "event_index": 2} +{"step": 924, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.25570154625355807, "height_m": 0.04824276268482208} +{"step": 924, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.25570154625355807, "height_m": 0.04824276268482208, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 2} +{"step": 924, "event": "navigation_base_instability", "height_m": 0.04824276268482208, "tilt_rad": 0.25570154625355807, "allowed": [0.05, 0.2], "hard": false, "event_index": 3} +{"step": 969, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.25569922555504226, "height_m": 0.04824240505695343} +{"step": 969, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.25569922555504226, "height_m": 0.04824240505695343, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 3} +{"step": 969, "event": "navigation_base_instability", "height_m": 0.04824240505695343, "tilt_rad": 0.25569922555504226, "allowed": [0.05, 0.2], "hard": false, "event_index": 4} +{"step": 1014, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.25569981185266666, "height_m": 0.04824255406856537} +{"step": 1014, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.25569981185266666, "height_m": 0.04824255406856537, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 4} +{"step": 1014, "event": "navigation_base_instability", "height_m": 0.04824255406856537, "tilt_rad": 0.25569981185266666, "allowed": [0.05, 0.2], "hard": false, "event_index": 5} +{"step": 1059, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.255696917745307, "height_m": 0.048241883516311646} +{"step": 1059, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.255696917745307, "height_m": 0.048241883516311646, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 5} +{"step": 1059, "event": "navigation_base_instability", "height_m": 0.048241883516311646, "tilt_rad": 0.255696917745307, "allowed": [0.05, 0.2], "hard": false, "event_index": 6} +{"step": 1104, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.2556980992771255, "height_m": 0.04824213683605194} +{"step": 1104, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.2556980992771255, "height_m": 0.04824213683605194, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 6} +{"step": 1104, "event": "navigation_base_instability", "height_m": 0.04824213683605194, "tilt_rad": 0.2556980992771255, "allowed": [0.05, 0.2], "hard": false, "event_index": 7} +{"step": 1149, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.2556978004503949, "height_m": 0.048242002725601196} +{"step": 1149, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.2556978004503949, "height_m": 0.048242002725601196, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 7} +{"step": 1149, "event": "navigation_base_instability", "height_m": 0.048242002725601196, "tilt_rad": 0.2556978004503949, "allowed": [0.05, 0.2], "hard": false, "event_index": 8} +{"step": 1194, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.2557005326694495, "height_m": 0.04824250936508179} +{"step": 1194, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.2557005326694495, "height_m": 0.04824250936508179, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 8} +{"step": 1194, "event": "primitive_failure", "operation": "deposit:can_of_soda_115", "reason": "navigation_soft_tilt_budget_exhausted", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..fe422ad2e0f4b03ed9435986763cc82029b751ff --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1194 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 608, in deposit\n self.approach(\"deposit:\" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 171, in approach\n self.route(np.r_[chosen[\"xy\"], chosen[\"yaw\"]])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 138, in route\n self.r.navigate(np.r_[xy, goal[2]], max_steps=budget)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 486, in navigate\n raise RecoveryFailure(\"navigation_soft_tilt_budget_exhausted\")\ntask01_recovery.control.RecoveryFailure: navigation_soft_tilt_budget_exhausted\n", + "steps": 1194, + "final_task": { + "inside": { + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": "can_of_soda_115", + "right": "can_of_soda_114" + }, + "eef_world": { + "left": [ + [ + 5.141958713531494, + 4.608836650848389, + 0.8391342759132385 + ], + [ + -0.5779355764389038, + 0.7643548250198364, + 0.004946650937199593, + 0.28588080406188965 + ] + ], + "right": [ + [ + 5.418050765991211, + 4.551237106323242, + 0.6508804559707642 + ], + [ + -0.6998064517974854, + 0.6788371801376343, + 0.19876310229301453, + -0.09972091019153595 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_1": [ + 5.165330410003662, + 4.631354331970215, + 0.7902398109436035 + ], + "can__of__soda.n.01_3": [ + 4.004907608032227, + 5.027427673339844, + 0.06461402028799057 + ], + "can__of__soda.n.01_2": [ + 5.383374214172363, + 4.558296203613281, + 0.5998774170875549 + ], + "ashcan.n.01_1": [ + 5.069910526275635, + 4.115623474121094, + 0.13971088826656342 + ] + }, + "robot_pose": [ + [ + 5.056133270263672, + 4.013670921325684, + 0.04824250936508179 + ], + [ + 0.12530547380447388, + 0.023566124960780144, + 0.6384198665618896, + 0.7590541839599609 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 411 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c8aa07853d693de66cee381f50379286a186182d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02c61a11d88affda449d24678683f2e38f8548f6c5ddd601dc4d605633bbd827 +size 511023 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..6754d31a2f88b7bbd062d25acc161748c069a3ae --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/attempt_001/run.log @@ -0,0 +1,644 @@ +RECOVERY building environment +[00:00:03.790] [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_20260922_133332.log +[0.047s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.102s] [ext: omni.metrics.core-0.0.3] startup +[0.102s] [ext: omni.client.lib-1.1.0] startup +[0.111s] [ext: omni.blobkey-1.1.2] startup +[0.112s] [ext: omni.stats-1.0.1] startup +[0.112s] [ext: omni.datastore-0.0.0] startup +[0.117s] [ext: omni.client-1.3.0] startup +[0.119s] [ext: omni.ujitso.default-1.0.0] startup +[0.121s] [ext: omni.hsscclient-1.1.2] startup +[0.155s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.157s] [ext: omni.assets.plugins-0.0.0] startup +[0.158s] [ext: omni.gpu_foundation-0.0.0] startup +[0.162s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T05:33:32Z [142ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:32Z [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) +[0.163s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T05:33:32Z [162ms] [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: 44226 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T05:33:33Z [729ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.897s] [ext: omni.materialx.libs-1.0.7] startup +[0.907s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.908s] [ext: omni.kit.test-2.0.1] startup +[0.944s] [ext: omni.usd.config-1.0.6] startup +[0.948s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.949s] [ext: omni.usd.libs-1.0.1] startup +[1.062s] [ext: omni.kit.telemetry-0.5.2] startup +[1.085s] [ext: omni.mdl-56.0.3] startup +[1.106s] [ext: omni.iray.libs-0.0.0] startup +[1.116s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.119s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.201s] [ext: omni.kit.pipapi-0.0.0] startup +[1.202s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T05:33:33Z [1,183ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,183ms] [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) +[1.206s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T05:33:33Z [1,199ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,199ms] [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) +2026-09-22T05:33:33Z [1,207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,207ms] [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) +[1.229s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.231s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T05:33:33Z [1,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,213ms] [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) +2026-09-22T05:33:33Z [1,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,214ms] [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) +2026-09-22T05:33:33Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T05:33:33Z [1,215ms] [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) +[1.282s] [ext: omni.ui-2.27.1] startup +[1.292s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.293s] [ext: carb.audio-0.1.0] startup +[1.298s] [ext: omni.uiaudio-1.0.0] startup +[1.299s] [ext: omni.kit.uiapp-0.0.0] startup +[1.299s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.303s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.306s] [ext: omni.usd_resolver-1.0.0] startup +[1.312s] [ext: omni.usd.core-1.5.3] startup +[1.315s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.333s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.355s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.358s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.360s] [ext: omni.kit.actions.core-1.0.0] startup +[1.362s] [ext: omni.activity.core-1.0.3] startup +[1.363s] [ext: omni.kit.commands-1.4.10] startup +[1.365s] [ext: usdrt.scenegraph-7.6.1] startup +[1.391s] [ext: omni.resourcemonitor-107.0.1] startup +[1.392s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.393s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.402s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.402s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.405s] [ext: omni.graph.exec-0.9.6] startup +[1.405s] [ext: omni.timeline-1.0.14] startup +[1.407s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.408s] [ext: omni.kit.exec.core-0.13.4] startup +[1.410s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.419s] [ext: omni.usd-1.13.10] startup +[1.441s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.452s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.452s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.458s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.466s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.470s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.471s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.471s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.497s] [ext: omni.inspect-1.0.2] startup +[1.498s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.499s] [ext: omni.graph.core-2.184.5] startup +[1.502s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.503s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.503s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.509s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.512s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.512s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.515s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.516s] [ext: omni.kit.clipboard-1.0.5] startup +[1.516s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.522s] [ext: omni.ui.scene-1.11.5] startup +[1.525s] [ext: omni.index.libs-380600.8087.0] startup +[1.525s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.531s] [ext: omni.index-1.0.1] startup +[1.531s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.532s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.534s] [ext: omni.volume-0.5.2] startup +[1.535s] [ext: omni.ujitso.client-0.0.0] startup +[1.536s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.537s] [ext: omni.kit.menu.core-1.1.2] startup +[1.537s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T05:33:33Z [1,533ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.568s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.569s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.572s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.572s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.576s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.582s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.586s] [ext: omni.kit.context_menu-1.8.6] startup +[1.587s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.589s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.589s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.591s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.596s] [ext: omni.kit.material.library-2.0.7] startup +[1.599s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.600s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.602s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.613s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.613s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.614s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.614s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.615s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.615s] [ext: omni.kit.browser.core-2.3.13] startup +[1.617s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.618s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.624s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.627s] [ext: omni.kit.window.file-2.0.5] startup +[1.628s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.629s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.629s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.630s] [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 +[1.644s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.651s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.652s] [ext: omni.graph.action_core-1.1.7] startup +[1.654s] [ext: omni.graph-1.141.2] startup +[1.678s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.679s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.683s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.688s] [ext: omni.kit.window.stage-2.6.1] startup +[1.694s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.694s] [ext: omni.graph.action-1.130.0] startup +[1.695s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.696s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.698s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.698s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.700s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.703s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.706s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.707s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.707s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.718s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.726s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.728s] [ext: omni.kit.window.property-1.12.1] startup +[1.730s] [ext: omni.ui_query-1.1.8] startup +[1.731s] [ext: omni.kit.property.usd-4.5.12] startup +[1.738s] [ext: omni.kit.menu.create-2.0.1] startup +[1.739s] [ext: isaacsim.core.version-2.0.6] startup +[1.740s] [ext: omni.kit.ui_test-1.3.7] startup +[1.741s] [ext: omni.kit.scripting-107.3.2] startup +[1.744s] [ext: omni.convexdecomposition-107.3.26] startup +[1.747s] [ext: isaacsim.storage.native-1.5.1] startup +[1.748s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.754s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.757s] [ext: omni.kvdb-107.3.26] startup +[1.758s] [ext: omni.usdphysics-107.3.26] startup +[1.760s] [ext: omni.physx.foundation-107.3.26] startup +[1.762s] [ext: omni.localcache-107.3.26] startup +[1.763s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.767s] [ext: omni.physx.cooking-107.3.26] startup +[1.770s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.771s] [ext: omni.physx-107.3.26] startup +[1.778s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.782s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.784s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.786s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.792s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.794s] [ext: isaacsim.gui.components-1.2.1] startup +[1.797s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.800s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.869s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.876s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.879s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.886s] [ext: omni.fabric.commands-1.1.6] startup +[1.889s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.890s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.892s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.906s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.908s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.909s] [ext: omni.debugdraw-0.1.4] startup +[1.917s] [ext: omni.physics-107.3.26] startup +[1.921s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.950s] [ext: omni.physx.commands-107.3.26] startup +[1.956s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.959s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.961s] [ext: omni.physx.ui-107.3.26] startup +[1.984s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.988s] [ext: omni.physx.supportui-107.3.26] startup +[1.997s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.999s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.000s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.005s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T05:33:34Z [1,987ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.007s] [ext: omni.physics.tensors-107.3.26] startup +[2.011s] [ext: omni.warp.core-1.8.2] startup +[2.125s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.127s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T05:33:34Z [2,123ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.144s] [ext: omni.physx.tensors-107.3.26] startup +[2.151s] [ext: isaacsim.core.utils-3.5.1] startup +[2.155s] [ext: omni.graph.image.core-0.6.1] startup +[2.158s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.249s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.251s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.253s] [ext: isaacsim.core.prims-0.6.1] startup +[2.270s] [ext: omni.syntheticdata-0.6.13] startup +[2.282s] [ext: isaacsim.core.api-4.8.0] startup +[2.302s] [ext: omni.videoencoding-0.1.2] startup +[2.305s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.306s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.309s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.310s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.310s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.314s] [ext: omni.graph.nodes-1.170.10] startup +[2.324s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.328s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.333s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T05:33:34Z [2,313ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.334s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.342s] [ext: omni.warp-1.8.2] startup +[2.347s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.366s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.368s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.392s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.479s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T05:33:34Z [2,473ms] [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 +2026-09-22T05:33:34Z [2,537ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T05:33:34Z [2,537ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T05:33:34Z [2,537ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.560s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.563s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.567s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.574s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T05:33:34Z [2,557ms] [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. +[2.580s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.589s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.612s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.628s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.650s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.661s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T05:33:35Z [2,646ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.679s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.681s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T05:33:35Z [2,672ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.697s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T05:33:35Z [2,684ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.707s] [ext: omni.anim.curve.core-1.3.1] startup +[2.809s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T05:33:35Z [2,804ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:33:35Z [2,814ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T05:33:35Z [2,866ms] [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. +[2.888s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.972s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T05:33:35Z [2,963ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.988s] [ext: omni.kit.selection-0.1.6] startup +[3.021s] [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. +[3.042s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T05:33:35Z [3,023ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,023ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,024ms] [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. +2026-09-22T05:33:35Z [3,025ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,025ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,025ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,026ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,026ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,027ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T05:33:35Z [3,027ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.048s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.069s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.085s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.094s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T05:33:35Z [3,076ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.097s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.110s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T05:33:35Z [3,092ms] [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. +2026-09-22T05:33:35Z [3,092ms] [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. +2026-09-22T05:33:35Z [3,093ms] [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. +2026-09-22T05:33:35Z [3,093ms] [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. +2026-09-22T05:33:35Z [3,094ms] [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. +2026-09-22T05:33:35Z [3,094ms] [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. +2026-09-22T05:33:35Z [3,094ms] [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. +2026-09-22T05:33:35Z [3,095ms] [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. +2026-09-22T05:33:35Z [3,101ms] [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. +2026-09-22T05:33:35Z [3,101ms] [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. +2026-09-22T05:33:35Z [3,102ms] [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. +2026-09-22T05:33:35Z [3,104ms] [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. +2026-09-22T05:33:35Z [3,104ms] [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. +2026-09-22T05:33:35Z [3,104ms] [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. +2026-09-22T05:33:35Z [3,105ms] [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. +2026-09-22T05:33:35Z [3,105ms] [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. +[3.126s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T05:33:35Z [3,108ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.129s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T05:33:35Z [3,112ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T05:33:35Z [3,112ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.134s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T05:33:35Z [3,116ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.138s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T05:33:35Z [3,119ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.140s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.146s] [ext: omni.isaac.utils-2.0.6] startup +[3.148s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.155s] [ext: isaacsim.app.about-2.0.11] startup +[3.159s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T05:33:35Z [3,139ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.160s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.161s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T05:33:35Z [3,143ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T05:33:35Z [3,143ms] [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. +2026-09-22T05:33:35Z [3,143ms] [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. +2026-09-22T05:33:35Z [3,144ms] [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. +2026-09-22T05:33:35Z [3,144ms] [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. +2026-09-22T05:33:35Z [3,144ms] [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. +2026-09-22T05:33:35Z [3,144ms] [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. +2026-09-22T05:33:35Z [3,144ms] [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. +2026-09-22T05:33:35Z [3,145ms] [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. +2026-09-22T05:33:35Z [3,145ms] [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. +2026-09-22T05:33:35Z [3,145ms] [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. +2026-09-22T05:33:35Z [3,147ms] [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. +[3.168s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T05:33:35Z [3,167ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T05:33:35Z [3,168ms] [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. +[3.189s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.201s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T05:33:35Z [3,182ms] [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. +[3.202s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.217s] [ext: omni.kit.property.audio-1.0.16] startup +[3.226s] [ext: omni.kit.property.camera-1.0.10] startup +[3.228s] [ext: omni.sensors.net-1.0.0] startup +[3.232s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.236s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.239s] [ext: omni.kit.property.light-1.0.12] startup +[3.291s] [ext: omni.kit.property.material-1.11.9] startup +[3.295s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.297s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.298s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.302s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.308s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.312s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.314s] [ext: omni.kit.property.render-1.2.1] startup +[3.315s] [ext: omni.kit.property.transform-1.5.13] startup +[3.318s] [ext: isaacsim.gui.property-1.1.3] startup +[3.319s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.324s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.328s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.337s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.341s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.342s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T05:33:35Z [3,322ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T05:33:35Z [3,322ms] [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. +[3.343s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T05:33:35Z [3,323ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T05:33:35Z [3,324ms] [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. +[3.346s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.358s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T05:33:35Z [3,338ms] [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. +2026-09-22T05:33:35Z [3,338ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,339ms] [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. +2026-09-22T05:33:35Z [3,340ms] [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. +2026-09-22T05:33:35Z [3,340ms] [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. +2026-09-22T05:33:35Z [3,341ms] [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. +[3.361s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T05:33:35Z [3,342ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.363s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.373s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.375s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.376s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.378s] [ext: omni.ocio-0.1.1] startup +[3.381s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.393s] [ext: omni.kit.window.console-1.1.4] startup +[3.396s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.400s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T05:33:35Z [3,380ms] [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. +[3.400s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.404s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.408s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.417s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T05:33:35Z [3,397ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.418s] [ext: semantics.schema.editor-2.0.2] startup +[3.421s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.422s] [ext: semantics.schema.property-2.0.1] startup +[3.423s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T05:33:35Z [3,403ms] [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. +2026-09-22T05:33:35Z [3,403ms] [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. +2026-09-22T05:33:35Z [3,404ms] [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. +[3.425s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T05:33:35Z [3,405ms] [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. +2026-09-22T05:33:35Z [3,406ms] [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. +2026-09-22T05:33:35Z [3,406ms] [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. +2026-09-22T05:33:35Z [3,406ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.426s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.434s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.440s] [ext: omni.kit.menu.common-2.0.1] startup +[3.442s] [ext: isaacsim.exp.base-5.1.0] startup +[3.443s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.445s] Simulation App Starting +2026-09-22T05:33:35Z [3,477ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T05:33:35Z [3,501ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[3.558s] app ready +[5.957s] Simulation App Startup Complete +[6.347s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T05:33:38Z [6,524ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T05:33:39Z [7,544ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.412] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.731] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T05:34:58Z [86,244ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:35:02Z [89,751ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T05:35:02Z [90,010ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,010ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,010ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,010ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,161ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,161ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,219ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,219ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,276ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,276ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,277ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,277ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,277ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,277ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,325ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,325ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,435ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,435ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,436ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,436ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,436ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,437ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,449ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:02Z [90,449ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,267ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,267ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,290ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,290ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,305ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,305ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:03Z [91,513ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,930ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T05:35:04Z [91,930ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:39.512] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:39.641] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T05:35:17Z [105,021ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:53.362] [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. +[00:01:53.364] [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. +2026-09-22T05:35:21Z [109,535ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:35:21Z [109,536ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:35:21Z [109,537ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:35:21Z [109,538ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:35:25Z [112,805ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T05:35:32Z [120,448ms] [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 +2026-09-22T05:35:32Z [120,526ms] [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 +2026-09-22T05:35:40Z [128,185ms] [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 +2026-09-22T05:35:40Z [128,450ms] [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 +2026-09-22T05:36:40Z [188,418ms] [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 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 608, in deposit + self.approach("deposit:" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 171, in approach + self.route(np.r_[chosen["xy"], chosen["yaw"]]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 138, in route + self.r.navigate(np.r_[xy, goal[2]], max_steps=budget) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 486, in navigate + raise RecoveryFailure("navigation_soft_tilt_budget_exhausted") +task01_recovery.control.RecoveryFailure: navigation_soft_tilt_budget_exhausted + +2026-09-22T05:40:16Z [404,414ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:40:16Z [404,414ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T05:40:16Z [404,414ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[404.533s] Simulation App Shutting Down diff --git 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"vla-episode_00019580-f005701", + "kind": "vla", + "episode_id": "00019580", + "instance_id": 958, + "source_n_steps": 10536, + "seed_rank": 2, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019580.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019580.json", + "frame": 5701, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 5701, + 8600 + ], + "reason": "Left carries can_115 to the tipped trash can (visible in left wrist f8550-8750) and releases at f8533; can lands NextTo not Inside (NextTo flip f8595, no Inside flip in whole episode). Both a placement failure and ordering failure. Seed at row start with the degraded scene (tipped trash can) as the recovery test." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..428a676362c7a89d3b2f5d93319c1e36026d0e18 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f005701/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019580-f005701", + "episode_id": "00019580", + "instance_id": 958, + "start_type": "judgement_seed", + "source_frame": 5701, + "attempt": "attempt_001", + "completed_at": "2026-09-22T05:41:09+00:00", + "success": false, + "status": "error", + "error": "navigation_soft_tilt_budget_exhausted", + 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0.5843125581741333], "desired_xyz": [4.272496700286865, 2.8513941764831543, 0.584388494491577], "error_m": 0.0007665764371555313} +{"step": 1103, "event": "release_point_selected", "xy": [4.265110492706299, 2.7959758043289185], "occupied": 0, "strategy": "center", "ring_radius_m": 0.0, "min_distance_m": null} +{"step": 1103, "event": "eef_target", "arm": "right", "body_xyz": [0.18313009113910467, 0.021735947836684852, 0.5776331975562148], "world_xyz": [4.273244857788086, 2.8512454032897945, 0.5843125581741332], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1103, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1103, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1143, "event": "joint_tracking", "max_error_rad": 0.002034589648246765} +{"step": 1143, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.273528575897217, 2.8511288166046143, 0.5841941833496094], "desired_xyz": [4.273244857788086, 2.8512454032897945, 0.5843125581741332], "error_m": 0.00032878719514474084} +{"step": 1143, "event": "eef_target", "arm": "right", "body_xyz": [0.14768160295825097, 0.014827995991008314, 0.5776914992885818], "world_xyz": [4.291948318481445, 2.8199543356895447, 0.5842533707618713], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1143, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1143, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1173, "event": "joint_tracking", "max_error_rad": 0.03956037759780884} +{"step": 1173, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.279938697814941, 2.842829465866089, 0.5946676135063171], "desired_xyz": [4.291948318481445, 2.8199543356895447, 0.5842533707618713], "error_m": 0.027856041016041787} +{"step": 1173, "event": "eef_target", "arm": "right", "body_xyz": [0.11241143773216951, 0.008185707855881887, 0.577858680153767], "world_xyz": [4.310368061065674, 2.7887798547744747, 0.5843125581741335], "held": {"left": null, "right": "can_of_soda_114"}} +{"step": 1173, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1173, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1203, "event": "joint_tracking", "max_error_rad": 0.06990918517112732} +{"step": 1211, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.289556503295898, 2.8286654949188232, 0.6035036444664001], "desired_xyz": [4.310368061065674, 2.7887798547744747, 0.5843125581741335], "error_m": 0.048910970340061685} +{"step": 1211, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_114/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5", "body1": "/World/scene_0/controllable__r1pro__robot_r1/torso_link2"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/torso_link2", "body1": "/World/scene_0/controllable__r1pro__robot_r1/right_arm_link5"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/base_link", "body1": "/World/scene_0/trash_can_116/base_link"}], "actual_q": [-2.0990023612976074, -0.20634491741657257, 0.008673322387039661, -0.012565940618515015, 0.006400163285434246, 2.6059937477111816, 0.04682818800210953, -1.1423673629760742, -1.6143258810043335, 0.1956888884305954, -0.4900239109992981, -0.40033528208732605, 0.02127874828875065, 0.010984104126691818, -0.36806073784828186, 0.3394576609134674, -0.5740450620651245, -1.0359771251678467, 0.35978978872299194, -0.23259858787059784, 0.5864229202270508, 0.24646051228046417, 0.07306307554244995, 0.05791090056300163, 0.04999946057796478, 0.04999852925539017, 0.05000000074505806, 0.022927850484848022]} +{"step": 1211, "event": "actions_rejected", "start": 1143, "end": 1211, "reason": "eef_execution_blocked"} +{"step": 1211, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..72dbfb2091dd7f7625374cd2ec2c4c71fae17672 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1211 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 653, in deposit\n self.r.eef_world(arm, above[:3, 3], quat, steps=50)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 412, in _eef_world_once\n raise RecoveryFailure(\"eef_execution_blocked\")\ntask01_recovery.control.RecoveryFailure: eef_execution_blocked\n", + "steps": 1211, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": "can_of_soda_114" + }, + "eef_world": { + "left": [ + [ + 4.120048522949219, + 2.5252084732055664, + 0.5092445611953735 + ], + [ + -0.8488732576370239, + 0.5275400876998901, + -0.02806059643626213, + -0.018116958439350128 + ] + ], + "right": [ + [ + 4.289556503295898, + 2.8286654949188232, + 0.6035036444664001 + ], + [ + -0.8222218155860901, + 0.4214591681957245, + 0.38154059648513794, + -0.02739163674414158 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 4.242910385131836, + 2.83878231048584, + 0.5638108849525452 + ], + "can__of__soda.n.01_3": [ + 4.004903793334961, + 5.027425765991211, + 0.06461402028799057 + ], + "can__of__soda.n.01_1": [ + 5.343526363372803, + 4.473255634307861, + 0.03518163785338402 + ], + "ashcan.n.01_1": [ + 4.2698469161987305, + 2.7908051013946533, + 0.13921645283699036 + ] + }, + "robot_pose": [ + [ + 4.353767395019531, + 2.6860337257385254, + 0.0061247944831848145 + ], + [ + 0.0022786734625697136, + 0.0011654450790956616, + 0.8196765780448914, + 0.5728209614753723 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 400 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c7f23b2ce86e6a56882ee5e31919bc098d89f90c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43de69e7c728e98dc451dc2f1e4aab8c1e0deb2e37b8093e740c661eede58625 +size 468812 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..c7ce77acfec450ccef1b87024dc52109cbb13268 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/run.log @@ -0,0 +1,644 @@ +RECOVERY building environment +[00:00:03.539] [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_20260922_181559.log +[0.059s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.109s] [ext: omni.metrics.core-0.0.3] startup +[0.109s] [ext: omni.client.lib-1.1.0] startup +[0.120s] [ext: omni.blobkey-1.1.2] startup +[0.120s] [ext: omni.stats-1.0.1] startup +[0.121s] [ext: omni.datastore-0.0.0] startup +[0.126s] [ext: omni.client-1.3.0] startup +[0.128s] [ext: omni.ujitso.default-1.0.0] startup +[0.130s] [ext: omni.hsscclient-1.1.2] startup +[0.175s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.177s] [ext: omni.assets.plugins-0.0.0] startup +[0.178s] [ext: omni.gpu_foundation-0.0.0] startup +[0.186s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T10:16:00Z [162ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:00Z [162ms] [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) +[0.187s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T10:16:00Z [189ms] [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: 46644 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T10:16:00Z [832ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.967s] [ext: omni.materialx.libs-1.0.7] startup +[0.982s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.983s] [ext: omni.kit.test-2.0.1] startup +[0.997s] [ext: omni.usd.config-1.0.6] startup +[0.999s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.999s] [ext: omni.usd.libs-1.0.1] startup +[1.109s] [ext: omni.kit.telemetry-0.5.2] startup +[1.129s] [ext: omni.mdl-56.0.3] startup +[1.145s] [ext: omni.iray.libs-0.0.0] startup +[1.152s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.154s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.238s] [ext: omni.kit.pipapi-0.0.0] startup +[1.238s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T10:16:01Z [1,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [1,215ms] [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) +[1.241s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T10:16:01Z [1,229ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [1,229ms] [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) +2026-09-22T10:16:01Z [1,234ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [1,234ms] [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) +[1.260s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.262s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T10:16:01Z [1,241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [1,241ms] [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) +2026-09-22T10:16:01Z [1,242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [1,242ms] [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) +2026-09-22T10:16:01Z [1,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T10:16:01Z [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) +[1.308s] [ext: omni.ui-2.27.1] startup +[1.315s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.316s] [ext: carb.audio-0.1.0] startup +[1.319s] [ext: omni.uiaudio-1.0.0] startup +[1.320s] [ext: omni.kit.uiapp-0.0.0] startup +[1.320s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.323s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.328s] [ext: omni.usd_resolver-1.0.0] startup +[1.334s] [ext: omni.usd.core-1.5.3] startup +[1.337s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.355s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.378s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.382s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.386s] [ext: omni.kit.actions.core-1.0.0] startup +[1.389s] [ext: omni.activity.core-1.0.3] startup +[1.390s] [ext: omni.kit.commands-1.4.10] startup +[1.395s] [ext: usdrt.scenegraph-7.6.1] startup +[1.427s] [ext: omni.resourcemonitor-107.0.1] startup +[1.429s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.431s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.444s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.444s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.449s] [ext: omni.graph.exec-0.9.6] startup +[1.449s] [ext: omni.timeline-1.0.14] startup +[1.451s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.452s] [ext: omni.kit.exec.core-0.13.4] startup +[1.454s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.463s] [ext: omni.usd-1.13.10] startup +[1.493s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.508s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.508s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.516s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.529s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.535s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.535s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.536s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.569s] [ext: omni.inspect-1.0.2] startup +[1.571s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.572s] [ext: omni.graph.core-2.184.5] startup +[1.575s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.576s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.577s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.588s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.593s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.594s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.599s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.600s] [ext: omni.kit.clipboard-1.0.5] startup +[1.601s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.608s] [ext: omni.ui.scene-1.11.5] startup +[1.612s] [ext: omni.index.libs-380600.8087.0] startup +[1.612s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.617s] [ext: omni.index-1.0.1] startup +[1.618s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.619s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.621s] [ext: omni.volume-0.5.2] startup +[1.627s] [ext: omni.ujitso.client-0.0.0] startup +[1.628s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.629s] [ext: omni.kit.menu.core-1.1.2] startup +[1.630s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T10:16:01Z [1,633ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.679s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.680s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.682s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.683s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.687s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.694s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.699s] [ext: omni.kit.context_menu-1.8.6] startup +[1.700s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.704s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.704s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.707s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.714s] [ext: omni.kit.material.library-2.0.7] startup +[1.717s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.717s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.720s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.732s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.733s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.733s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.734s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.734s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.735s] [ext: omni.kit.browser.core-2.3.13] startup +[1.737s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.737s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.744s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.746s] [ext: omni.kit.window.file-2.0.5] startup +[1.748s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.748s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.749s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.750s] [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 +[1.765s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.772s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.773s] [ext: omni.graph.action_core-1.1.7] startup +[1.774s] [ext: omni.graph-1.141.2] startup +[1.800s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.801s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.804s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.809s] [ext: omni.kit.window.stage-2.6.1] startup +[1.816s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.818s] [ext: omni.graph.action-1.130.0] startup +[1.819s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.821s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.824s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.826s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.828s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.849s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.854s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.856s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.857s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.869s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.870s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.871s] [ext: omni.kit.window.property-1.12.1] startup +[1.874s] [ext: omni.ui_query-1.1.8] startup +[1.874s] [ext: omni.kit.property.usd-4.5.12] startup +[1.881s] [ext: omni.kit.menu.create-2.0.1] startup +[1.883s] [ext: isaacsim.core.version-2.0.6] startup +[1.884s] [ext: omni.kit.ui_test-1.3.7] startup +[1.885s] [ext: omni.kit.scripting-107.3.2] startup +[1.888s] [ext: omni.convexdecomposition-107.3.26] startup +[1.891s] [ext: isaacsim.storage.native-1.5.1] startup +[1.892s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.898s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.901s] [ext: omni.kvdb-107.3.26] startup +[1.902s] [ext: omni.usdphysics-107.3.26] startup +[1.905s] [ext: omni.physx.foundation-107.3.26] startup +[1.907s] [ext: omni.localcache-107.3.26] startup +[1.908s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.912s] [ext: omni.physx.cooking-107.3.26] startup +[1.915s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.916s] [ext: omni.physx-107.3.26] startup +[1.924s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.928s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.929s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.932s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.937s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.939s] [ext: isaacsim.gui.components-1.2.1] startup +[1.942s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.945s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.003s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.005s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.012s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.016s] [ext: omni.fabric.commands-1.1.6] startup +[2.018s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.019s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.021s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.028s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.029s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.030s] [ext: omni.debugdraw-0.1.4] startup +[2.034s] [ext: omni.physics-107.3.26] startup +[2.036s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.052s] [ext: omni.physx.commands-107.3.26] startup +[2.056s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.057s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.059s] [ext: omni.physx.ui-107.3.26] startup +[2.081s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.087s] [ext: omni.physx.supportui-107.3.26] startup +[2.098s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.099s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.101s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.105s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T10:16:02Z [2,082ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.107s] [ext: omni.physics.tensors-107.3.26] startup +[2.110s] [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 +2026-09-22T10:16:02Z [2,208ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.232s] [ext: omni.physx.tensors-107.3.26] startup +[2.237s] [ext: isaacsim.core.utils-3.5.1] startup +[2.241s] [ext: omni.graph.image.core-0.6.1] startup +[2.243s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.320s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.322s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.324s] [ext: isaacsim.core.prims-0.6.1] startup +[2.339s] [ext: omni.syntheticdata-0.6.13] startup +[2.351s] [ext: isaacsim.core.api-4.8.0] startup +[2.363s] [ext: omni.videoencoding-0.1.2] startup +[2.366s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.367s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.369s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.370s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.370s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.374s] [ext: omni.graph.nodes-1.170.10] startup +[2.383s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.386s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.391s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T10:16:02Z [2,368ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.392s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.401s] [ext: omni.warp-1.8.2] startup +[2.408s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.425s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.428s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.464s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.537s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T10:16:02Z [2,534ms] [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 +2026-09-22T10:16:02Z [2,603ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T10:16:02Z [2,603ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T10:16:02Z [2,604ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.630s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.633s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.637s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.645s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T10:16:02Z [2,621ms] [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. +[2.646s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.652s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.700s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.726s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.740s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.755s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T10:16:02Z [2,735ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.797s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.800s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T10:16:02Z [2,786ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.812s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T10:16:02Z [2,800ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.827s] [ext: omni.anim.curve.core-1.3.1] startup +[2.921s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T10:16:02Z [2,900ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:16:02Z [2,901ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T10:16:02Z [2,976ms] [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. +[3.002s] [ext: omni.kit.viewport.menubar.camera-107.0.6] 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. +[3.074s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T10:16:03Z [3,051ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.076s] [ext: omni.kit.selection-0.1.6] startup +[3.078s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.090s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T10:16:03Z [3,067ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,068ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,068ms] [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. +2026-09-22T10:16:03Z [3,069ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,069ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,070ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,070ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,071ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,071ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T10:16:03Z [3,071ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.096s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.113s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.180s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.183s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T10:16:03Z [3,161ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.185s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.189s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T10:16:03Z [3,167ms] [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. +2026-09-22T10:16:03Z [3,167ms] [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. +2026-09-22T10:16:03Z [3,168ms] [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. +2026-09-22T10:16:03Z [3,168ms] [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. +2026-09-22T10:16:03Z [3,169ms] [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. +2026-09-22T10:16:03Z [3,169ms] [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. +2026-09-22T10:16:03Z [3,169ms] [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. +2026-09-22T10:16:03Z [3,170ms] [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. +2026-09-22T10:16:03Z [3,171ms] [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. +2026-09-22T10:16:03Z [3,171ms] [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. +2026-09-22T10:16:03Z [3,171ms] [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. +2026-09-22T10:16:03Z [3,171ms] [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. +2026-09-22T10:16:03Z [3,171ms] [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. +2026-09-22T10:16:03Z [3,172ms] [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. +2026-09-22T10:16:03Z [3,172ms] [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. +2026-09-22T10:16:03Z [3,173ms] [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. +[3.197s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T10:16:03Z [3,175ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.199s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T10:16:03Z [3,176ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T10:16:03Z [3,176ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.201s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T10:16:03Z [3,177ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.201s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T10:16:03Z [3,180ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.204s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.208s] [ext: omni.isaac.utils-2.0.6] startup +[3.209s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.214s] [ext: isaacsim.app.about-2.0.11] startup +[3.216s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T10:16:03Z [3,193ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.217s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.218s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T10:16:03Z [3,196ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,196ms] [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. +2026-09-22T10:16:03Z [3,197ms] [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. +2026-09-22T10:16:03Z [3,197ms] [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. +2026-09-22T10:16:03Z [3,197ms] [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. +2026-09-22T10:16:03Z [3,199ms] [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. +[3.223s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T10:16:03Z [3,203ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T10:16:03Z [3,204ms] [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. +[3.228s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.233s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T10:16:03Z [3,210ms] [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. +[3.234s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.242s] [ext: omni.kit.property.audio-1.0.16] startup +[3.243s] [ext: omni.kit.property.camera-1.0.10] startup +[3.244s] [ext: omni.sensors.net-1.0.0] startup +[3.247s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.251s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.253s] [ext: omni.kit.property.light-1.0.12] startup +[3.302s] [ext: omni.kit.property.material-1.11.9] startup +[3.306s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.307s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.309s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.314s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.320s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.324s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.327s] [ext: omni.kit.property.render-1.2.1] startup +[3.328s] [ext: omni.kit.property.transform-1.5.13] startup +[3.331s] [ext: isaacsim.gui.property-1.1.3] startup +[3.332s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.337s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.343s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.349s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.352s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.356s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T10:16:03Z [3,333ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T10:16:03Z [3,333ms] [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. +[3.357s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T10:16:03Z [3,334ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T10:16:03Z [3,334ms] [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. +[3.358s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.371s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T10:16:03Z [3,349ms] [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. +2026-09-22T10:16:03Z [3,349ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T10:16:03Z [3,349ms] [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. +2026-09-22T10:16:03Z [3,349ms] [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. +2026-09-22T10:16:03Z [3,349ms] [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. +2026-09-22T10:16:03Z [3,349ms] [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. +2026-09-22T10:16:03Z [3,350ms] [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. +2026-09-22T10:16:03Z [3,350ms] [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. +2026-09-22T10:16:03Z [3,351ms] [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. +2026-09-22T10:16:03Z [3,351ms] [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. +2026-09-22T10:16:03Z [3,351ms] [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. +[3.375s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T10:16:03Z [3,353ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.377s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.387s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.389s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.390s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.392s] [ext: omni.ocio-0.1.1] startup +[3.394s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.405s] [ext: omni.kit.window.console-1.1.4] startup +[3.409s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.413s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T10:16:03Z [3,389ms] [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. +[3.413s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.417s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.421s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.430s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T10:16:03Z [3,407ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.431s] [ext: semantics.schema.editor-2.0.2] startup +[3.435s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.436s] [ext: semantics.schema.property-2.0.1] startup +[3.437s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T10:16:03Z [3,413ms] [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. +2026-09-22T10:16:03Z [3,413ms] [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. +2026-09-22T10:16:03Z [3,414ms] [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. +[3.438s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T10:16:03Z [3,416ms] [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. +2026-09-22T10:16:03Z [3,416ms] [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. +2026-09-22T10:16:03Z [3,416ms] [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. +2026-09-22T10:16:03Z [3,416ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.440s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.448s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.454s] [ext: omni.kit.menu.common-2.0.1] startup +[3.455s] [ext: isaacsim.exp.base-5.1.0] startup +[3.456s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.457s] Simulation App Starting +2026-09-22T10:16:03Z [3,482ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T10:16:03Z [3,503ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.552s] app ready +[5.986s] Simulation App Startup Complete +[6.294s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T10:16:06Z [6,356ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T10:16:07Z [7,218ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.836] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.095] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T10:17:05Z [65,317ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:17:07Z [67,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [67,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,009ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,009ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,043ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,043ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,044ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:07Z [68,044ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,076ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,076ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,116ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,116ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,938ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,948ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,948ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,954ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,954ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,965ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:08Z [68,965ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,107ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,107ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,108ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,108ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,505ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T10:17:09Z [69,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T10:17:10Z [70,594ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:16.285] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:16.348] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T10:17:20Z [80,977ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:28.390] [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. +[00:01:28.393] [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. +2026-09-22T10:17:24Z [84,802ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:17:24Z [84,803ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:17:24Z [84,804ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:17:24Z [84,805ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:17:27Z [87,643ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T10:17:37Z [98,030ms] [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 +2026-09-22T10:17:48Z [108,276ms] [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 +2026-09-22T10:18:44Z [164,972ms] [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 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 653, in deposit + self.r.eef_world(arm, above[:3, 3], quat, steps=50) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 412, in _eef_world_once + raise RecoveryFailure("eef_execution_blocked") +task01_recovery.control.RecoveryFailure: eef_execution_blocked + +2026-09-22T10:22:31Z [391,572ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:22:31Z [391,572ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T10:22:31Z [391,572ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[391.698s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..9fc661ff7fc025d1270f0c4255a164ce25405304 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c0362e7ccc60cf6b73be505118674b928497a951bf309800e8a0e5a17c54f9d +size 1339 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6724e1112e724ce97177f85fcf69931a8e71d8ba --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:874779412540b17bedec1311ec15441f378fa04da5789864425b2234e97689bb +size 19020186 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5188d5cc97368802f2da397e835eff479845e94 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:135e19853a20ae0997f178b4ac0f216bd58085f7409cf34981cfdef1c43da50e +size 2341370 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/case.json new file mode 100644 index 0000000000000000000000000000000000000000..43ad3f5149093c3c0189e7b7e20a2b1a319affdd --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019580-f008601", + "kind": "vla", + "episode_id": "00019580", + "instance_id": 958, + "source_n_steps": 10536, + "seed_rank": 3, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019580.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019580.json", + "frame": 8601, + "start_type": "judgement_seed", + "chunk_index": 3, + "chunk_span": [ + 8601, + 9600 + ], + "reason": "Robot recovers its own drop: left re-grasps can_115 at f9547 (IsGrasping flip). Mechanically fine but out of order in the plan since the trash can remains tipped and unheld. Seed at row start." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1c90bb17bf3f312221abd1063886e426e46765 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f008601/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019580-f008601", + "episode_id": "00019580", + "instance_id": 958, + "start_type": "judgement_seed", + "source_frame": 8601, + "attempt": "attempt_001", + "completed_at": "2026-09-22T10:23:26+00:00", + "success": false, + "status": "error", + "error": "eef_execution_blocked", + "teacher_steps": 1211, + "dataset_frames": 1211, + "dataset_passed": true, + 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true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", 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3.556042194366455, 0.36203184723854065], "can__of__soda.n.01_1": [4.870468616485596, 3.340876340866089, 0.5155178904533386], "ashcan.n.01_1": [4.863919258117676, 3.138113498687744, 0.1497347354888916]}, "robot_pose": [[4.8597798347473145, 2.988999843597412, 0.005284816026687622], [-4.888884723186493e-05, 6.099457459640689e-05, 0.5509786605834961, 0.8345193266868591]]}} +{"step": 685, "event": "primitive_start", "operation": "deposit:can_of_soda_115", "attempt": 3} +{"step": 685, "event": "stage", "name": "deposit_can", "task": {"inside": {"can__of__soda.n.01_3": false, "can__of__soda.n.01_2": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_115", "right": "can_of_soda_114"}, "eef_world": {"left": [[4.880734920501709, 3.3301868438720703, 0.5414283275604248], [-0.44139745831489563, 0.7932921051979065, 0.2045603096485138, 0.36607539653778076]], "right": [[5.253005027770996, 3.5288429260253906, 0.41616204380989075], [-0.6258107423782349, 0.7490497827529907, 0.18222592771053314, 0.1186552345752716]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.004905700683594, 5.027422904968262, 0.06461402773857117], "can__of__soda.n.01_2": [5.23978328704834, 3.5558953285217285, 0.3618754744529724], "can__of__soda.n.01_1": [4.870488166809082, 3.34096097946167, 0.5154457688331604], "ashcan.n.01_1": [4.863919258117676, 3.1381144523620605, 0.14973434805870056]}, "robot_pose": [[4.859779357910156, 2.988999843597412, 0.005285277962684631], [-5.059782415628433e-05, 6.327080336632207e-05, 0.5509783625602722, 0.8345195651054382]]}} +{"step": 685, "event": "approach_candidates", "key": "deposit:can_of_soda_115", "target": [4.863919258117676, 3.1381144523620605], "evaluated": 36, "traversable": 27, "previously_tried": 2, "chosen": {"xy": [5.344118128496357, 2.5956118764354215], "yaw": 1.9430402466840881, "delta": 0.4, "distance": 0.68}} +{"step": 875, "event": "eef_target", "arm": "left", "body_xyz": [0.3224695732539492, 0.11498492919649834, 0.5357582076854476], "world_xyz": [5.08585786819458, 2.8488821983337402, 0.5409896373748783], "held": {"left": "can_of_soda_115", "right": "can_of_soda_114"}} +{"step": 875, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 875, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 930, "event": "joint_tracking", "max_error_rad": 0.0021584630012512207} +{"step": 930, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.085806369781494, 2.848931074142456, 0.5409321188926697], "desired_xyz": [5.08585786819458, 2.8488821983337402, 0.5409896373748783], "error_m": 9.137454253551492e-05} +{"step": 930, "event": "release_point_selected", "xy": [5.218228101730347, 2.709323763847351], "occupied": 0, "strategy": "center", "ring_radius_m": 0.0, "min_distance_m": null} +{"step": 930, "event": "eef_target", "arm": "left", "body_xyz": [0.32253371292914673, 0.1150147272383063, 0.5357006484406193], "world_xyz": [5.085806369781494, 2.848931074142456, 0.5409321188926699], "held": {"left": "can_of_soda_115", "right": "can_of_soda_114"}} +{"step": 930, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 930, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 970, "event": "joint_tracking", "max_error_rad": 0.0021516084671020508} +{"step": 970, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.085753917694092, 2.8489813804626465, 0.5408743619918823], "desired_xyz": [5.085806369781494, 2.848931074142456, 0.5409321188926699], "error_m": 9.283214374639308e-05} +{"step": 970, "event": "eef_target", "arm": "left", "body_xyz": [0.28578377689290313, 0.09784199648535102, 0.5356482486181502], "world_xyz": [5.115171957015991, 2.8209469079971314, 0.5408859133720402], "held": {"left": "can_of_soda_115", "right": "can_of_soda_114"}} +{"step": 970, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 970, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 985, "event": "joint_tracking", "max_error_rad": 0.05072438716888428} +{"step": 985, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.0922651290893555, 2.8312337398529053, 0.5642257928848267], "desired_xyz": [5.115171957015991, 2.8209469079971314, 0.5408859133720402], "error_m": 0.0342825269045449} +{"step": 985, "event": "eef_target", "arm": "left", "body_xyz": [0.24895820405037744, 0.08063427919701366, 0.5356525243272333], "world_xyz": [5.14458999633789, 2.7929124355316164, 0.5408974647521975], "held": {"left": "can_of_soda_115", "right": "can_of_soda_114"}} +{"step": 985, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 985, "event": "self_collision_guard", "rejected_self_collision": 4, "rejected_held_clearance": 0, "worst_rejected_pair": [["left_arm_link6", "torso_link4"], 0.035669519830664125], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 985, "event": "actions_rejected", "start": 970, "end": 985, "reason": "ik_infeasible:left:[0.249 0.081 0.536]"} +{"step": 985, "event": "primitive_failure", "operation": "deposit:can_of_soda_115", "reason": "ik_infeasible:left:[0.249 0.081 0.536]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..5a08ed37cf7534688f5c4e2f4fcbe379b7032016 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/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 for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/985 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 653, in deposit\n self.r.eef_world(arm, above[:3, 3], quat, steps=50)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:left:[0.249 0.081 0.536]\n", + "steps": 985, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": "can_of_soda_115", + "right": "can_of_soda_114" + }, + "eef_world": { + "left": [ + [ + 5.0922651290893555, + 2.8312337398529053, + 0.5642257928848267 + ], + [ + -0.7134971618652344, + 0.5423526167869568, + 0.3478942811489105, + 0.27521812915802 + ] + ], + "right": [ + [ + 5.215629577636719, + 3.25227689743042, + 0.41518405079841614 + ], + [ + -0.8668915629386902, + 0.45007139444351196, + 0.20851777493953705, + 0.04954969882965088 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 4.004905700683594, + 5.027422904968262, + 0.06461402773857117 + ], + "can__of__soda.n.01_2": [ + 5.188166618347168, + 3.262713670730591, + 0.36049899458885193 + ], + "can__of__soda.n.01_1": [ + 5.077382564544678, + 2.8325891494750977, + 0.5382533073425293 + ], + "ashcan.n.01_1": [ + 5.208816051483154, + 2.6995949745178223, + 0.1497347354888916 + ] + }, + "robot_pose": [ + [ + 5.310318946838379, + 2.590282678604126, + 0.005284920334815979 + ], + [ + -6.846338510513306e-05, + 3.790344635490328e-05, + 0.825788140296936, + 0.5639805197715759 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 390 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..67e1528576812fd074d5f3ea7dddcae0dc848a1b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d06ef061d3b12f973a2aa1ee9bfd4a8327d1c558a4cc29a5171bf4979e4d5d9 +size 462637 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..b29393b3162a28651a0bd944b38775ccb393ea0f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/run.log @@ -0,0 +1,644 @@ +RECOVERY building environment +[00:00:03.532] [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_20260922_210803.log +[0.039s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.094s] [ext: omni.metrics.core-0.0.3] startup +[0.095s] [ext: omni.client.lib-1.1.0] startup +[0.109s] [ext: omni.blobkey-1.1.2] startup +[0.109s] [ext: omni.stats-1.0.1] startup +[0.110s] [ext: omni.datastore-0.0.0] startup +[0.115s] [ext: omni.client-1.3.0] startup +[0.118s] [ext: omni.ujitso.default-1.0.0] startup +[0.119s] [ext: omni.hsscclient-1.1.2] startup +[0.142s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.143s] [ext: omni.assets.plugins-0.0.0] startup +[0.145s] [ext: omni.gpu_foundation-0.0.0] startup +[0.155s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T13:08:03Z [144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:03Z [144ms] [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) +[0.156s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T13:08:03Z [172ms] [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: 46847 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T13:08:04Z [791ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.917s] [ext: omni.materialx.libs-1.0.7] startup +[0.932s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.933s] [ext: omni.kit.test-2.0.1] startup +[0.947s] [ext: omni.usd.config-1.0.6] startup +[0.948s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.949s] [ext: omni.usd.libs-1.0.1] startup +[1.057s] [ext: omni.kit.telemetry-0.5.2] startup +[1.079s] [ext: omni.mdl-56.0.3] startup +[1.094s] [ext: omni.iray.libs-0.0.0] startup +[1.100s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.102s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.188s] [ext: omni.kit.pipapi-0.0.0] startup +[1.189s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T13:08:04Z [1,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,179ms] [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) +[1.192s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T13:08:04Z [1,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,210ms] [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) +2026-09-22T13:08:04Z [1,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,216ms] [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) +[1.229s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.231s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T13:08:04Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,223ms] [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) +2026-09-22T13:08:04Z [1,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,224ms] [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) +2026-09-22T13:08:04Z [1,225ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T13:08:04Z [1,225ms] [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) +[1.286s] [ext: omni.ui-2.27.1] startup +[1.294s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.295s] [ext: carb.audio-0.1.0] startup +[1.298s] [ext: omni.uiaudio-1.0.0] startup +[1.299s] [ext: omni.kit.uiapp-0.0.0] startup +[1.299s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.301s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.307s] [ext: omni.usd_resolver-1.0.0] startup +[1.314s] [ext: omni.usd.core-1.5.3] startup +[1.318s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.340s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.362s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.366s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.369s] [ext: omni.kit.actions.core-1.0.0] startup +[1.371s] [ext: omni.activity.core-1.0.3] startup +[1.372s] [ext: omni.kit.commands-1.4.10] startup +[1.375s] [ext: usdrt.scenegraph-7.6.1] startup +[1.413s] [ext: omni.resourcemonitor-107.0.1] startup +[1.415s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.417s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.426s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.426s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.429s] [ext: omni.graph.exec-0.9.6] startup +[1.430s] [ext: omni.timeline-1.0.14] startup +[1.433s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.435s] [ext: omni.kit.exec.core-0.13.4] startup +[1.438s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.445s] [ext: omni.usd-1.13.10] startup +[1.476s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.498s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.498s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.508s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.520s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.528s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.529s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.529s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.573s] [ext: omni.inspect-1.0.2] startup +[1.575s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.577s] [ext: omni.graph.core-2.184.5] startup +[1.582s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.582s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.583s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.593s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.598s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.599s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.605s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.605s] [ext: omni.kit.clipboard-1.0.5] startup +[1.606s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.617s] [ext: omni.ui.scene-1.11.5] startup +[1.621s] [ext: omni.index.libs-380600.8087.0] startup +[1.621s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.627s] [ext: omni.index-1.0.1] startup +[1.628s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.629s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.631s] [ext: omni.volume-0.5.2] startup +[1.634s] [ext: omni.ujitso.client-0.0.0] startup +[1.635s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.637s] [ext: omni.kit.menu.core-1.1.2] startup +[1.637s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T13:08:05Z [1,656ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.688s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.688s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.691s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.692s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.696s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.702s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.706s] [ext: omni.kit.context_menu-1.8.6] startup +[1.707s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.710s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.710s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.711s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.717s] [ext: omni.kit.material.library-2.0.7] startup +[1.721s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.721s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.724s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.735s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.735s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.736s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.736s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.737s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.737s] [ext: omni.kit.browser.core-2.3.13] startup +[1.739s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.739s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.746s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.749s] [ext: omni.kit.window.file-2.0.5] startup +[1.750s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.751s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.751s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.753s] [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 +[1.767s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.773s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.774s] [ext: omni.graph.action_core-1.1.7] startup +[1.776s] [ext: omni.graph-1.141.2] startup +[1.801s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.801s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.805s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.810s] [ext: omni.kit.window.stage-2.6.1] startup +[1.816s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.817s] [ext: omni.graph.action-1.130.0] startup +[1.817s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.819s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.821s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.822s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.824s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.832s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.841s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.842s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.843s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.856s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.857s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.859s] [ext: omni.kit.window.property-1.12.1] startup +[1.862s] [ext: omni.ui_query-1.1.8] startup +[1.863s] [ext: omni.kit.property.usd-4.5.12] startup +[1.873s] [ext: omni.kit.menu.create-2.0.1] startup +[1.875s] [ext: isaacsim.core.version-2.0.6] startup +[1.876s] [ext: omni.kit.ui_test-1.3.7] startup +[1.877s] [ext: omni.kit.scripting-107.3.2] startup +[1.879s] [ext: omni.convexdecomposition-107.3.26] startup +[1.883s] [ext: isaacsim.storage.native-1.5.1] startup +[1.884s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.889s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.892s] [ext: omni.kvdb-107.3.26] startup +[1.893s] [ext: omni.usdphysics-107.3.26] startup +[1.896s] [ext: omni.physx.foundation-107.3.26] startup +[1.897s] [ext: omni.localcache-107.3.26] startup +[1.898s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.902s] [ext: omni.physx.cooking-107.3.26] startup +[1.905s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.906s] [ext: omni.physx-107.3.26] startup +[1.914s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.918s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.919s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.922s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.927s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.929s] [ext: isaacsim.gui.components-1.2.1] startup +[1.931s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.934s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.994s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.996s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.003s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.008s] [ext: omni.fabric.commands-1.1.6] startup +[2.010s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.011s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.012s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.020s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.021s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.022s] [ext: omni.debugdraw-0.1.4] startup +[2.026s] [ext: omni.physics-107.3.26] startup +[2.028s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.046s] [ext: omni.physx.commands-107.3.26] startup +[2.049s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.051s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.054s] [ext: omni.physx.ui-107.3.26] startup +[2.075s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.080s] [ext: omni.physx.supportui-107.3.26] startup +[2.090s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.091s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.093s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.097s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T13:08:05Z [2,087ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.099s] [ext: omni.physics.tensors-107.3.26] startup +[2.103s] [ext: omni.warp.core-1.8.2] startup +[2.209s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.212s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T13:08:05Z [2,214ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.226s] [ext: omni.physx.tensors-107.3.26] startup +[2.231s] [ext: isaacsim.core.utils-3.5.1] startup +[2.235s] [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 +[2.319s] [ext: isaacsim.core.prims-0.6.1] startup +[2.334s] [ext: omni.syntheticdata-0.6.13] startup +[2.345s] [ext: isaacsim.core.api-4.8.0] startup +[2.359s] [ext: omni.videoencoding-0.1.2] startup +[2.363s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.364s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.367s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.368s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.368s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.371s] [ext: omni.graph.nodes-1.170.10] startup +[2.387s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.390s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.394s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T13:08:05Z [2,383ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.395s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.408s] [ext: omni.warp-1.8.2] startup +[2.417s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.435s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.437s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.457s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.529s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T13:08:06Z [2,534ms] [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 +2026-09-22T13:08:06Z [2,646ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T13:08:06Z [2,646ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T13:08:06Z [2,647ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.662s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.667s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.675s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.689s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T13:08:06Z [2,680ms] [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. +[2.694s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.730s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.803s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.873s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.909s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.916s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T13:08:06Z [2,909ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.943s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.949s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T13:08:06Z [2,943ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.958s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T13:08:06Z [2,960ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.976s] [ext: omni.anim.curve.core-1.3.1] startup +[3.072s] [ext: omni.isaac.franka-1.0.7] 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. +2026-09-22T13:08:06Z [3,063ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T13:08:06Z [3,067ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T13:08:06Z [3,096ms] [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. +[3.108s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.122s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T13:08:06Z [3,111ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.123s] [ext: omni.kit.selection-0.1.6] startup +[3.125s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.129s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T13:08:06Z [3,118ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,118ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,118ms] [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. +2026-09-22T13:08:06Z [3,118ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T13:08:06Z [3,119ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.131s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.141s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.148s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.154s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T13:08:06Z [3,143ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.155s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.161s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T13:08:06Z [3,151ms] [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. +2026-09-22T13:08:06Z [3,151ms] [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. +2026-09-22T13:08:06Z [3,151ms] [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. +2026-09-22T13:08:06Z [3,152ms] [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. +2026-09-22T13:08:06Z [3,153ms] [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. +2026-09-22T13:08:06Z [3,153ms] [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. +2026-09-22T13:08:06Z [3,153ms] [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. +2026-09-22T13:08:06Z [3,153ms] [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. +2026-09-22T13:08:06Z [3,154ms] [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. +2026-09-22T13:08:06Z [3,154ms] [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. +2026-09-22T13:08:06Z [3,154ms] [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. +2026-09-22T13:08:06Z [3,154ms] [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. +2026-09-22T13:08:06Z [3,154ms] [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. +2026-09-22T13:08:06Z [3,156ms] [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. +2026-09-22T13:08:06Z [3,156ms] [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. +2026-09-22T13:08:06Z [3,156ms] [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. +[3.169s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T13:08:06Z [3,160ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.172s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T13:08:06Z [3,163ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T13:08:06Z [3,163ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.175s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T13:08:06Z [3,166ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.178s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T13:08:06Z [3,168ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.180s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.183s] [ext: omni.isaac.utils-2.0.6] startup +[3.185s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.195s] [ext: isaacsim.app.about-2.0.11] startup +[3.197s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T13:08:06Z [3,186ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.198s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.200s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T13:08:06Z [3,190ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T13:08:06Z [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. +2026-09-22T13:08:06Z [3,191ms] [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. +2026-09-22T13:08:06Z [3,193ms] [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. +2026-09-22T13:08:06Z [3,193ms] [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. +2026-09-22T13:08:06Z [3,193ms] [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. +2026-09-22T13:08:06Z [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. +2026-09-22T13:08:06Z [3,194ms] [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. +2026-09-22T13:08:06Z [3,197ms] [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. +2026-09-22T13:08:06Z [3,197ms] [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. +2026-09-22T13:08:06Z [3,197ms] [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. +2026-09-22T13:08:06Z [3,198ms] [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. +[3.210s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T13:08:06Z [3,207ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T13:08:06Z [3,207ms] [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. +[3.219s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.222s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T13:08:06Z [3,210ms] [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. +[3.222s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.231s] [ext: omni.kit.property.audio-1.0.16] startup +[3.232s] [ext: omni.kit.property.camera-1.0.10] startup +[3.233s] [ext: omni.sensors.net-1.0.0] startup +[3.236s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.240s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.242s] [ext: omni.kit.property.light-1.0.12] startup +[3.284s] [ext: omni.kit.property.material-1.11.9] startup +[3.288s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.290s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.292s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.299s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.306s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.310s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.313s] [ext: omni.kit.property.render-1.2.1] startup +[3.314s] [ext: omni.kit.property.transform-1.5.13] startup +[3.318s] [ext: isaacsim.gui.property-1.1.3] startup +[3.319s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.324s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.329s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.336s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.339s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.344s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T13:08:06Z [3,333ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T13:08:06Z [3,333ms] [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. +[3.345s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T13:08:06Z [3,333ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T13:08:06Z [3,333ms] [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. +[3.345s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.359s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,348ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,348ms] [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. +2026-09-22T13:08:06Z [3,349ms] [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. +2026-09-22T13:08:06Z [3,350ms] [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. +2026-09-22T13:08:06Z [3,350ms] [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. +2026-09-22T13:08:06Z [3,350ms] [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. +[3.362s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T13:08:06Z [3,353ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.366s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.377s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.380s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.381s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.383s] [ext: omni.ocio-0.1.1] startup +[3.385s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.394s] [ext: omni.kit.window.console-1.1.4] startup +[3.401s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.405s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T13:08:06Z [3,394ms] [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. +[3.406s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.412s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.416s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.430s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T13:08:06Z [3,419ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.431s] [ext: semantics.schema.editor-2.0.2] startup +[3.436s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.438s] [ext: semantics.schema.property-2.0.1] startup +[3.440s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T13:08:06Z [3,429ms] [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. +2026-09-22T13:08:06Z [3,429ms] [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. +2026-09-22T13:08:06Z [3,430ms] [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. +[3.442s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T13:08:06Z [3,431ms] [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. +2026-09-22T13:08:06Z [3,432ms] [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. +2026-09-22T13:08:06Z [3,432ms] [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. +2026-09-22T13:08:06Z [3,432ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.444s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.453s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.459s] [ext: omni.kit.menu.common-2.0.1] startup +[3.460s] [ext: isaacsim.exp.base-5.1.0] startup +[3.461s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.462s] Simulation App Starting +2026-09-22T13:08:07Z [3,631ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T13:08:07Z [3,661ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.707s] app ready +[5.988s] Simulation App Startup Complete +[6.284s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T13:08:10Z [6,479ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T13:08:10Z [7,416ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.028] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.222] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T13:09:06Z [63,238ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:09:10Z [66,899ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-22T13:09:10Z [67,261ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,261ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,418ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,418ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,457ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,457ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,457ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,457ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,458ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:10Z [67,458ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,493ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,494ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,573ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:11Z [67,573ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,497ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,549ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,550ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,577ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,583ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,592ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,592ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,601ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,601ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,610ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,610ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,782ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,782ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,782ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [68,783ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,121ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,122ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,122ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,166ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,166ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,166ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,166ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,288ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T13:09:12Z [69,289ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:14.234] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:14.281] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T13:09:22Z [79,255ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:23.767] [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. +[00:01:23.770] [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. +2026-09-22T13:09:23Z [80,211ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:09:23Z [80,212ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:09:23Z [80,213ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:09:23Z [80,214ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:09:26Z [83,320ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T13:09:38Z [94,553ms] [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 +2026-09-22T13:09:38Z [94,629ms] [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 +2026-09-22T13:09:49Z [105,835ms] [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 +2026-09-22T13:09:49Z [105,922ms] [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 +2026-09-22T13:10:48Z [164,582ms] [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 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 653, in deposit + self.r.eef_world(arm, above[:3, 3], quat, steps=50) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:left:[0.249 0.081 0.536] + +2026-09-22T13:14:24Z [381,339ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:14:24Z [381,339ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T13:14:24Z [381,339ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[381.453s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..0501a1f0f2ed94a023741fe3886171184991cc30 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aca5741e9495af12967c246b6beb227e48d9b16b531a040e264ac1bc1118092 +size 1113 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b47a55861063da8f3974259be0e16e576a32e0af --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:467357719332a8ff1dba3f98ddd0f598feb80fefa95c60cab215f2929d1da379 +size 15549819 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a2c2ace862629ca45763e950559ed9802036a8bb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e53086bf999bde05b1edd98e6120f786e62e2e1a09007dceac971acbf67b4015 +size 1899460 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/case.json new file mode 100644 index 0000000000000000000000000000000000000000..1f690ee384e8e1fc1f197b9bc454794a7e3d4370 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00019580-f009601", + "kind": "vla", + "episode_id": "00019580", + "instance_id": 958, + "source_n_steps": 10536, + "seed_rank": 4, + "n_seeds_in_episode": 5, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019580.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019580.json", + "frame": 9601, + "start_type": "judgement_seed", + "chunk_index": 4, + "chunk_span": [ + 9601, + 10535 + ], + "reason": "No progress span: both grippers hold cans across the entire row (right holds can_114 since f5152, left re-grabbed can_115 at f9547), swept head+wrist composite at 200-frame stride f9600-10535 and no predicate flips in log after f9548. Robot circles without approaching trash can and episode ends. Seed at row start; arm right because can_114 is the older grasp and the demo-preferred placing arm." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..162287a4cc2bf555926da3171d83bbb63974ef41 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019580-f009601/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00019580-f009601", + "episode_id": "00019580", + "instance_id": 958, + "start_type": "judgement_seed", + "source_frame": 9601, + "attempt": "attempt_001", + "completed_at": "2026-09-22T13:15:20+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:left:[0.249 0.081 0.536]", + "teacher_steps": 985, + "dataset_frames": 985, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00019580-f009601/attempt_001/dataset", + "video": "runs/vla-episode_00019580-f009601/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": "can_of_soda_115", + "right": "can_of_soda_114" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 50 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019590-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019590-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..250d78b4bd57e5be8b79b384ba19ee3e68ca092a --- /dev/null +++ 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"shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.right_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "observation.robot2cam_pose.zed_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", 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