Complete verified Task 01 teacher and 815-case recovery campaign synchronization (part 9)

.gitattributes

@@ -480,3 +480,29 @@ task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recove
 task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017120-f003301/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
 task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017160-f003211/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
 task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017160-f003600/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text
+task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/trajectory.hdf5 filter=lfs diff=lfs merge=lfs -text

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/run.log

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+RECOVERY building environment
+[00:00:04.228] [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_20260919_231402.log
+[0.056s] [ext: omni.kit.async_engine-0.0.3] startup
+DEBUG:asyncio:Using selector: EpollSelector
+[0.260s] [ext: omni.metrics.core-0.0.3] startup
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+[0.370s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.372s] [ext: omni.assets.plugins-0.0.0] startup
+[0.374s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.384s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-09-19T15:14:02Z [350ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:02Z [350ms] [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)
+[0.386s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-09-19T15:14:02Z [378ms] [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: 46875
+| Total Page/Swap (MB): 2047 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-09-19T15:14:03Z [1,071ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+[1.241s] [ext: omni.materialx.libs-1.0.7] startup
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+2026-09-19T15:14:04Z [1,538ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:04Z [1,538ms] [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)
+[1.575s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-09-19T15:14:04Z [1,551ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:04Z [1,551ms] [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)
+2026-09-19T15:14:04Z [1,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+[1.594s] [ext: omni.kit.renderer.capture-0.0.0] startup
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+2026-09-19T15:14:04Z [1,563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:04Z [1,563ms] [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)
+2026-09-19T15:14:04Z [1,564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:04Z [1,564ms] [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)
+2026-09-19T15:14:04Z [1,565ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:14:04Z [1,565ms] [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)
+[1.640s] [ext: omni.ui-2.27.1] startup
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+2026-09-19T15:14:04Z [1,893ms] [Warning] [omni.log] Source: omni.hydra was already registered.
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+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
+[2.082s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[2.089s] [ext: omni.kit.usdz_export-1.0.9] startup
+[2.091s] [ext: omni.graph.action_core-1.1.7] startup
+[2.093s] [ext: omni.graph-1.141.2] startup
+[2.129s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[2.131s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
+[2.136s] [ext: omni.graph.action_nodes-1.50.4] startup
+[2.144s] [ext: omni.kit.window.stage-2.6.1] startup
+[2.150s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[2.151s] [ext: omni.graph.action-1.130.0] startup
+[2.152s] [ext: omni.kit.menu.stage-1.2.7] startup
+[2.154s] [ext: omni.kit.widget.settings-1.2.6] startup
+[2.159s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[2.164s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[2.175s] [ext: omni.kit.window.preferences-1.8.0] startup
+[2.181s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[2.184s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[2.185s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[2.187s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[2.200s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[2.202s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[2.205s] [ext: omni.kit.window.property-1.12.1] startup
+[2.208s] [ext: omni.ui_query-1.1.8] startup
+[2.209s] [ext: omni.kit.property.usd-4.5.12] startup
+[2.220s] [ext: omni.kit.menu.create-2.0.1] startup
+[2.223s] [ext: isaacsim.core.version-2.0.6] startup
+[2.224s] [ext: omni.kit.ui_test-1.3.7] startup
+[2.226s] [ext: omni.kit.scripting-107.3.2] startup
+[2.231s] [ext: omni.convexdecomposition-107.3.26] startup
+[2.235s] [ext: isaacsim.storage.native-1.5.1] startup
+[2.237s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[2.245s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[2.249s] [ext: omni.kvdb-107.3.26] startup
+[2.252s] [ext: omni.usdphysics-107.3.26] startup
+[2.254s] [ext: omni.physx.foundation-107.3.26] startup
+[2.256s] [ext: omni.localcache-107.3.26] startup
+[2.258s] [ext: omni.kit.window.extensions-1.4.27] startup
+[2.264s] [ext: omni.physx.cooking-107.3.26] startup
+[2.267s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[2.269s] [ext: omni.physx-107.3.26] startup
+[2.279s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[2.283s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[2.285s] [ext: omni.kit.tool.collect-2.2.18] startup
+[2.291s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[2.297s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[2.300s] [ext: isaacsim.gui.components-1.2.1] startup
+[2.303s] [ext: isaacsim.examples.browser-0.2.1] startup
+[2.309s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
+[2.385s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[2.393s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[2.400s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[2.406s] [ext: omni.fabric.commands-1.1.6] startup
+[2.411s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[2.413s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[2.416s] [ext: omni.kit.widget.layers-1.8.6] startup
+[2.431s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[2.434s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[2.434s] [ext: omni.debugdraw-0.1.4] startup
+[2.442s] [ext: omni.physics-107.3.26] startup
+[2.446s] [ext: omni.usdphysics.ui-107.3.26] startup
+[2.474s] [ext: omni.physx.commands-107.3.26] startup
+[2.479s] [ext: omni.physics.stageupdate-107.3.26] startup
+[2.482s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[2.485s] [ext: omni.physx.ui-107.3.26] startup
+[2.515s] [ext: omni.kit.widget.graph-2.0.0] startup
+[2.523s] [ext: omni.physx.supportui-107.3.26] startup
+[2.539s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[2.541s] [ext: omni.kit.numpy.common-0.1.3] startup
+[2.543s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[2.549s] [ext: omni.physics.physx-107.3.26] startup
+2026-09-19T15:14:05Z [2,516ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.552s] [ext: omni.physics.tensors-107.3.26] startup
+[2.556s] [ext: omni.warp.core-1.8.2] startup
+[2.663s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[2.665s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-09-19T15:14:05Z [2,636ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.672s] [ext: omni.physx.tensors-107.3.26] startup
+[2.677s] [ext: isaacsim.core.utils-3.5.1] startup
+[2.681s] [ext: omni.graph.image.core-0.6.1] startup
+[2.683s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[2.766s] [ext: omni.graph.image.nodes-1.3.1] startup
+[2.767s] [ext: omni.kit.stage_templates-2.0.0] startup
+[2.769s] [ext: isaacsim.core.prims-0.6.1] startup
+[2.786s] [ext: omni.syntheticdata-0.6.13] startup
+[2.801s] [ext: isaacsim.core.api-4.8.0] startup
+[2.816s] [ext: omni.videoencoding-0.1.2] startup
+[2.818s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[2.819s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[2.822s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[2.823s] [ext: isaacsim.simulation_app-2.12.2] startup
+[2.823s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[2.827s] [ext: omni.graph.nodes-1.170.10] startup
+[2.837s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[2.839s] [ext: isaacsim.test.docstring-1.1.0] startup
+[2.843s] [ext: omni.isaac.kit-2.0.6] startup
+2026-09-19T15:14:05Z [2,808ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[2.844s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
+[2.855s] [ext: omni.warp-1.8.2] startup
+[2.859s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[2.871s] [ext: omni.graph.scriptnode-1.50.0] startup
+[2.872s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
+[2.883s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[2.917s] [ext: omni.replicator.core-1.12.27] startup
+2026-09-19T15:14:05Z [2,896ms] [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
+2026-09-19T15:14:05Z [3,001ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-09-19T15:14:05Z [3,001ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-09-19T15:14:05Z [3,002ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[3.043s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
+[3.054s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[3.061s] [ext: isaacsim.core.nodes-3.4.3] startup
+[3.074s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
+2026-09-19T15:14:05Z [3,041ms] [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.
+[3.081s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[3.095s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
+[3.160s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
+[3.201s] [ext: isaacsim.core.throttling-2.2.2] startup
+[3.243s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
+[3.251s] [ext: omni.flowusd-107.1.8] startup
+2026-09-19T15:14:05Z [3,222ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
+[3.277s] [ext: isaacsim.cortex.framework-1.0.12] startup
+[3.297s] [ext: omni.isaac.core_nodes-2.0.6] startup
+2026-09-19T15:14:05Z [3,286ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
+[3.322s] [ext: omni.isaac.cortex-1.0.5] startup
+2026-09-19T15:14:05Z [3,288ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[3.324s] [ext: omni.anim.curve.core-1.3.1] startup
+[3.388s] [ext: omni.isaac.franka-1.0.7] startup
+2026-09-19T15:14:05Z [3,356ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-19T15:14:05Z [3,363ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-19T15:14:05Z [3,390ms] [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.
+[3.427s] [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.
+[3.539s] [ext: omni.isaac.lula-4.0.6] startup
+2026-09-19T15:14:06Z [3,504ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[3.540s] [ext: omni.kit.selection-0.1.6] startup
+[3.543s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[3.549s] [ext: omni.isaac.manipulators-3.0.7] startup
+2026-09-19T15:14:06Z [3,514ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,514ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,515ms] [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.
+2026-09-19T15:14:06Z [3,517ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,517ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,517ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,517ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,517ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,518ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,518ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[3.554s] [ext: isaacsim.gui.menu-2.4.4] startup
+[3.571s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[3.579s] [ext: isaacsim.asset.browser-1.3.23] startup
+[3.584s] [ext: omni.isaac.menu-1.0.6] startup
+2026-09-19T15:14:06Z [3,549ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[3.587s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[3.596s] [ext: omni.isaac.motion_generation-8.0.7] startup
+2026-09-19T15:14:06Z [3,562ms] [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.
+2026-09-19T15:14:06Z [3,562ms] [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.
+2026-09-19T15:14:06Z [3,562ms] [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.
+2026-09-19T15:14:06Z [3,562ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,563ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+2026-09-19T15:14:06Z [3,564ms] [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.
+[3.601s] [ext: omni.isaac.asset_browser-1.0.6] startup
+2026-09-19T15:14:06Z [3,567ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.607s] [ext: omni.isaac.nucleus-1.0.6] startup
+2026-09-19T15:14:06Z [3,575ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,576ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[3.612s] [ext: omni.isaac.quadruped-3.0.7] startup
+2026-09-19T15:14:06Z [3,577ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[3.613s] [ext: omni.isaac.assets_check-0.3.13] startup
+2026-09-19T15:14:06Z [3,579ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.615s] [ext: isaacsim.gui.content_browser-0.1.11] startup
+[3.621s] [ext: omni.isaac.utils-2.0.6] startup
+[3.623s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[3.634s] [ext: isaacsim.app.about-2.0.11] startup
+[3.636s] [ext: omni.isaac.version-2.0.7] startup
+2026-09-19T15:14:06Z [3,601ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[3.637s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
+[3.638s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
+2026-09-19T15:14:06Z [3,605ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,605ms] [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.
+2026-09-19T15:14:06Z [3,606ms] [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.
+2026-09-19T15:14:06Z [3,606ms] [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.
+2026-09-19T15:14:06Z [3,606ms] [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.
+2026-09-19T15:14:06Z [3,607ms] [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.
+2026-09-19T15:14:06Z [3,607ms] [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.
+2026-09-19T15:14:06Z [3,607ms] [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.
+2026-09-19T15:14:06Z [3,607ms] [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.
+2026-09-19T15:14:06Z [3,608ms] [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.
+2026-09-19T15:14:06Z [3,608ms] [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.
+2026-09-19T15:14:06Z [3,610ms] [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.
+[3.647s] [ext: omni.isaac.window.about-2.0.7] startup
+2026-09-19T15:14:06Z [3,621ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,621ms] [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.
+[3.658s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[3.668s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
+2026-09-19T15:14:06Z [3,632ms] [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.
+[3.668s] [ext: omni.sensors.nv.common-3.0.0] startup
+[3.676s] [ext: omni.kit.property.audio-1.0.16] startup
+[3.677s] [ext: omni.kit.property.camera-1.0.10] startup
+[3.679s] [ext: omni.sensors.net-1.0.0] startup
+[3.681s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[3.686s] [ext: omni.kit.property.geometry-2.0.4] startup
+[3.689s] [ext: omni.kit.property.light-1.0.12] startup
+[3.735s] [ext: omni.kit.property.material-1.11.9] startup
+[3.740s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[3.741s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[3.743s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[3.747s] [ext: omni.hydra.scene_api-0.1.2] startup
+[3.754s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[3.758s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[3.762s] [ext: omni.kit.property.render-1.2.1] startup
+[3.763s] [ext: omni.kit.property.transform-1.5.13] startup
+[3.766s] [ext: isaacsim.gui.property-1.1.3] startup
+[3.768s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[3.773s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[3.780s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[3.790s] [ext: isaacsim.core.cloner-1.4.10] startup
+[3.796s] [ext: omni.kit.property.bundle-1.4.1] startup
+[3.803s] [ext: omni.kit.property.isaac-1.0.6] startup
+2026-09-19T15:14:06Z [3,768ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,769ms] [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.
+[3.805s] [ext: omni.isaac.range_sensor-4.0.6] startup
+2026-09-19T15:14:06Z [3,770ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,770ms] [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.
+[3.806s] [ext: isaacsim.replicator.writers-1.0.17] startup
+[3.828s] [ext: omni.isaac.sensor-13.0.7] startup
+2026-09-19T15:14:06Z [3,795ms] [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.
+2026-09-19T15:14:06Z [3,796ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-09-19T15:14:06Z [3,797ms] [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.
+2026-09-19T15:14:06Z [3,797ms] [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.
+2026-09-19T15:14:06Z [3,797ms] [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.
+2026-09-19T15:14:06Z [3,797ms] [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.
+2026-09-19T15:14:06Z [3,797ms] [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.
+2026-09-19T15:14:06Z [3,798ms] [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.
+2026-09-19T15:14:06Z [3,800ms] [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.
+2026-09-19T15:14:06Z [3,802ms] [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.
+2026-09-19T15:14:06Z [3,803ms] [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.
+[3.840s] [ext: omni.isaac.cloner-1.0.7] startup
+2026-09-19T15:14:06Z [3,807ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[3.844s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[3.858s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[3.862s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
+[3.866s] [ext: isaacsim.replicator.examples-1.3.6] startup
+[3.869s] [ext: omni.ocio-0.1.1] startup
+[3.873s] [ext: omni.rtx.window.settings-0.6.19] startup
+[3.890s] [ext: omni.kit.window.console-1.1.4] startup
+[3.900s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[3.904s] [ext: omni.replicator.isaac-2.0.8] startup
+2026-09-19T15:14:06Z [3,870ms] [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.
+[3.906s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[3.914s] [ext: omni.rtx.settings.core-0.6.5] startup
+[3.923s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[3.933s] [ext: omni.isaac.surface_gripper-2.0.6] startup
+2026-09-19T15:14:06Z [3,898ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[3.935s] [ext: semantics.schema.editor-2.0.2] startup
+[3.943s] [ext: omni.kit.ui.actions-1.0.5] startup
+[3.946s] [ext: semantics.schema.property-2.0.1] startup
+[3.949s] [ext: omni.isaac.universal_robots-1.0.6] startup
+2026-09-19T15:14:06Z [3,914ms] [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.
+2026-09-19T15:14:06Z [3,914ms] [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.
+2026-09-19T15:14:06Z [3,915ms] [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.
+[3.951s] [ext: omni.isaac.core-4.0.7] startup
+2026-09-19T15:14:06Z [3,919ms] [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.
+2026-09-19T15:14:06Z [3,919ms] [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.
+2026-09-19T15:14:06Z [3,920ms] [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.
+2026-09-19T15:14:06Z [3,920ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[3.956s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
+[3.972s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[3.981s] [ext: omni.kit.menu.common-2.0.1] startup
+[3.984s] [ext: isaacsim.exp.base-5.1.0] startup
+[3.985s] [ext: omnigibson_5_1_0-3.9.2] startup
+[3.987s] Simulation App Starting
+2026-09-19T15:14:06Z [4,084ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-09-19T15:14:06Z [4,106ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9
+
+[4.169s] app ready
+[6.436s] Simulation App Startup Complete
+[6.728s] [ext: omni.physx.fabric-107.3.26] startup
+2026-09-19T15:14:09Z [6,818ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors
+
+2026-09-19T15:14:10Z [7,649ms] [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.
+
+                   ____________
+                  /          / \
+                 /          / /__
+                /          / /  /\
+               /__________/ /__/  \
+               \   _____  \ \__\  /
+                \  \  / \  \ \_/ /
+                 \  \/___\  \   /
+                  \__________\_/  
+       ___                  _  ____ _ _                     
+      / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
+     | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
+     | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
+      \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|
+
+[00:00:11.963] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ----------
+[00:00:12.041] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check.
+2026-09-19T15:15:01Z [58,643ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:15:03Z [61,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,000ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,001ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,144ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,144ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,176ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,176ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,177ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,177ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,177ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,177ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,273ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,273ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,274ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,280ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:03Z [61,280ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,918ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,918ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,944ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,944ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,949ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,950ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [61,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,366ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,367ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,367ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,367ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,389ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,389ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,389ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,389ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:15:04Z [62,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:15:05Z [63,319ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
+[00:01:07.912] [INFO] [omnigibson.simulator] Imported scene 0.
+[00:01:07.949] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot
+2026-09-19T15:15:14Z [71,537ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300.
+[00:01:16.573] [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.
+[00:01:16.575] [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.
+2026-09-19T15:15:14Z [72,300ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:15:14Z [72,301ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:15:14Z [72,302ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:15:14Z [72,303ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:15:17Z [75,087ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-09-19T15:15:26Z [83,511ms] [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
+2026-09-19T15:15:35Z [92,787ms] [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
+2026-09-19T15:15:40Z [98,459ms] [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_2': False, 'can__of__soda.n.01_1': 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_2': False, 'can__of__soda.n.01_1': False, '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': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'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': False, 'can__of__soda.n.01_3': False} {'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': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 720 grasp_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': 'trash_can_116'}
+RECOVERY progress 840 grasp_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': 'trash_can_116'}
+2026-09-19T15:18:29Z [266,856ms] [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 960 grasp_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1080 coordinate_bin_under_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1200 orient_bin_for_gravity {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1320 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1440 meet_hands_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1560 release_into_aligned_bin {'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 1680 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': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1800 navigate_to_can {'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 1920 navigate_to_can {'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 2040 grasp_can {'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 2160 grasp_can {'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'}
+2026-09-19T15:22:06Z [484,448ms] [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
+RECOVERY progress 2280 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2400 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2520 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2640 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2760 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2880 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 3000 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 3120 transport_posture {'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 3240 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 3360 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 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 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 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'}
+2026-09-19T15:26:20Z [737,952ms] [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 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 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 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
+2026-09-19T15:27:51Z [828,631ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:27:51Z [828,631ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:27:51Z [828,631ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+[828.757s] Simulation App Shutting Down

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/supervision_mask.npy

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+{
+  "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00017170-f007970/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": 9.503121884485433e-05,
+  "max_supervised_command_overlap_m": 5.1577700317329e-05,
+  "flagged_supervised_steps": 0,
+  "flagged_frames": [],
+  "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785",
+  "review_required": false
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/trajectory.hdf5

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task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/video.mp4

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+version https://git-lfs.github.com/spec/v1
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task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/case.json

@@ -0,0 +1,19 @@
+{
+  "case_id": "vla-episode_00017170-f007970",
+  "kind": "vla",
+  "episode_id": "00017170",
+  "instance_id": 717,
+  "source_n_steps": 10536,
+  "seed_rank": 0,
+  "n_seeds_in_episode": 1,
+  "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017170.hdf5",
+  "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017170.json",
+  "frame": 7970,
+  "start_type": "judgement_seed",
+  "chunk_index": 1,
+  "chunk_span": [
+    7970,
+    10535
+  ],
+  "reason": "Trash can grasp completed at f7970 and robot held it through episode end with no further manipulation. No soda can collection attempted across remaining 2565 frames. Per task card fixed order A\u2192B\u2192C\u2192D, phase B (collect soda cans) should begin immediately after phase A completes. Frame 7970 is where phase A ended and phase B should have started but never did. Scene state matches expected A\u2192B transition point in successful demos."
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/complete.json

@@ -0,0 +1,28 @@
+{
+  "case_id": "vla-episode_00017170-f007970",
+  "episode_id": "00017170",
+  "instance_id": 717,
+  "start_type": "judgement_seed",
+  "source_frame": 7970,
+  "attempt": "attempt_001",
+  "completed_at": "2026-09-19T15:31:29+00:00",
+  "success": true,
+  "status": "completed",
+  "error": null,
+  "teacher_steps": 4678,
+  "dataset_frames": 4521,
+  "dataset_passed": true,
+  "supervised_frames": 4518,
+  "dataset_root": "runs/vla-episode_00017170-f007970/attempt_001/dataset",
+  "video": "runs/vla-episode_00017170-f007970/attempt_001/video.mp4",
+  "initial_inside": 0,
+  "final_inside": 3,
+  "initial_held": {
+    "left": null,
+    "right": "trash_can_116"
+  },
+  "already_complete_at_start": false,
+  "model_call_count": 0,
+  "export": "ok",
+  "export_wall_seconds": 211
+}

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+    "codec": "hevc",
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+  },
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+  "case": {
+    "case_id": "vla-episode_00017180-f007500",
+    "kind": "vla",
+    "episode_id": "00017180",
+    "instance_id": 718,
+    "source_n_steps": 10536,
+    "seed_rank": 0,
+    "n_seeds_in_episode": 2,
+    "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017180.hdf5",
+    "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017180.json",
+    "frame": 7500,
+    "start_type": "judgement_seed",
+    "chunk_index": 2,
+    "chunk_span": [
+      4511,
+      10228
+    ],
+    "reason": "left arm was still carrying the can productively toward the trash can at f7500; NextTo first flips true at f7827 and the arm then hovers over the rim for ~80 s with NextTo oscillating four times and never releases, so a seed after f7827 lands inside the ruined stretch. Chose f7500 to sit clearly before arrival, per the earlier-frame tie-break; the left arm holds the can and the right arm holds the trash can here, matching the state at drop time minus the failure."
+  }
+}

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+  hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i])
+
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task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/outcome.json

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+{
+  "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
+  },
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+      "right": "trash_can_116"
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+    },
+    "robot_pose": [
+      [
+        4.420780181884766,
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+        -6.306450814008713e-05,
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+  },
+  "error": "eef_execution_blocked",
+  "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 98, in main\n    result = Teacher(runtime, references).run()\n             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 1516, in run\n    operation()\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 1472, in <lambda>\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": 3670,
+  "final_task": {
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+  "driver": {
+    "returncode": 0,
+    "wall_seconds": 821
+  }
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/run.log

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+RECOVERY building environment
+[00:00:03.610] [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_20260919_231531.log
+[0.048s] [ext: omni.kit.async_engine-0.0.3] startup
+DEBUG:asyncio:Using selector: EpollSelector
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+2026-09-19T15:15:32Z [108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [108ms] [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)
+[0.130s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-09-19T15:15:32Z [127ms] [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: 46861
+| Total Page/Swap (MB): 2047 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-09-19T15:15:32Z [604ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+[0.756s] [ext: omni.materialx.libs-1.0.7] startup
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+[0.780s] [ext: omni.usd.config-1.0.6] startup
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+[0.917s] [ext: omni.iray.libs-0.0.0] startup
+[0.921s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[0.923s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[0.996s] [ext: omni.kit.pipapi-0.0.0] startup
+[0.997s] [ext: omni.appwindow-1.1.10] startup
+2026-09-19T15:15:32Z [976ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [976ms] [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)
+[0.999s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-09-19T15:15:32Z [989ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [989ms] [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)
+2026-09-19T15:15:32Z [995ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [995ms] [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)
+[1.018s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[1.019s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-09-19T15:15:32Z [1,000ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [1,000ms] [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)
+2026-09-19T15:15:32Z [1,001ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [1,001ms] [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)
+2026-09-19T15:15:32Z [1,002ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-19T15:15:32Z [1,002ms] [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)
+[1.062s] [ext: omni.ui-2.27.1] startup
+[1.068s] [ext: omni.kit.mainwindow-1.0.3] startup
+[1.069s] [ext: carb.audio-0.1.0] startup
+[1.072s] [ext: omni.uiaudio-1.0.0] startup
+[1.072s] [ext: omni.kit.uiapp-0.0.0] startup
+[1.072s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
+[1.074s] [ext: omni.usd.schema.audio-0.0.0] startup
+[1.077s] [ext: omni.usd_resolver-1.0.0] startup
+[1.081s] [ext: omni.usd.core-1.5.3] startup
+[1.084s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup
+[1.101s] [ext: omni.usd.schema.anim-0.0.0] startup
+[1.119s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[1.122s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[1.124s] [ext: omni.kit.actions.core-1.0.0] startup
+[1.126s] [ext: omni.activity.core-1.0.3] startup
+[1.126s] [ext: omni.kit.commands-1.4.10] startup
+[1.129s] [ext: usdrt.scenegraph-7.6.1] startup
+[1.152s] [ext: omni.resourcemonitor-107.0.1] startup
+[1.153s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[1.154s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[1.161s] [ext: omni.kit.usd_undo-0.1.8] startup
+[1.161s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[1.164s] [ext: omni.graph.exec-0.9.6] startup
+[1.164s] [ext: omni.timeline-1.0.14] startup
+[1.165s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[1.166s] [ext: omni.kit.exec.core-0.13.4] startup
+[1.167s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[1.173s] [ext: omni.usd-1.13.10] startup
+[1.192s] [ext: omni.kit.asset_converter-5.0.17] startup
+[1.201s] [ext: omni.usd.schema.isaac-3.0.5] startup
+[1.201s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[1.206s] [ext: isaacsim.robot.schema-3.6.0] startup
+[1.213s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[1.217s] [ext: omni.usd.schema.flow-107.1.1] startup
+[1.217s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[1.218s] [ext: omni.usd.schema.physx-107.3.26] startup
+[1.242s] [ext: omni.inspect-1.0.2] startup
+[1.243s] [ext: omni.kit.notification_manager-1.0.10] startup
+[1.244s] [ext: omni.graph.core-2.184.5] startup
+[1.246s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[1.247s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[1.247s] [ext: omni.anim.graph.schema-107.3.3] startup
+[1.252s] [ext: omni.anim.navigation.schema-107.3.3] startup
+[1.255s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[1.256s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[1.258s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[1.259s] [ext: omni.kit.clipboard-1.0.5] startup
+[1.259s] [ext: omni.kit.usd.layers-2.2.11] startup
+[1.265s] [ext: omni.ui.scene-1.11.5] startup
+[1.268s] [ext: omni.index.libs-380600.8087.0] startup
+[1.268s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[1.273s] [ext: omni.index-1.0.1] startup
+[1.274s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[1.274s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[1.276s] [ext: omni.volume-0.5.2] startup
+[1.278s] [ext: omni.ujitso.client-0.0.0] startup
+[1.278s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[1.279s] [ext: omni.kit.menu.core-1.1.2] startup
+[1.279s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-09-19T15:15:33Z [1,274ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[1.310s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[1.311s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[1.313s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[1.314s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[1.317s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[1.323s] [ext: omni.kit.menu.utils-2.0.5] startup
+[1.327s] [ext: omni.kit.context_menu-1.8.6] startup
+[1.328s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[1.330s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[1.330s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[1.332s] [ext: omni.kit.raycast.query-1.1.0] startup
+[1.338s] [ext: omni.kit.material.library-2.0.7] startup
+[1.340s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[1.341s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[1.343s] [ext: omni.kit.viewport.window-107.2.0] startup
+[1.354s] [ext: omni.kit.widget.zoombar-1.0.6] startup
+[1.354s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[1.355s] [ext: omni.kit.widget.filter-1.1.4] startup
+[1.355s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[1.356s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[1.356s] [ext: omni.kit.browser.core-2.3.13] startup
+[1.358s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[1.358s] [ext: omni.kit.widget.stage-3.1.4] startup
+[1.365s] [ext: omni.kit.browser.folder.core-1.10.9] startup
+[1.367s] [ext: omni.kit.window.file-2.0.5] startup
+[1.369s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[1.369s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[1.370s] [ext: omni.kit.usd.collect-2.4.5] startup
+[1.371s] [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
+[1.385s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[1.391s] [ext: omni.kit.usdz_export-1.0.9] startup
+[1.392s] [ext: omni.graph.action_core-1.1.7] startup
+[1.394s] [ext: omni.graph-1.141.2] startup
+[1.418s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[1.419s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
+[1.422s] [ext: omni.graph.action_nodes-1.50.4] startup
+[1.427s] [ext: omni.kit.window.stage-2.6.1] startup
+[1.435s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[1.437s] [ext: omni.graph.action-1.130.0] startup
+[1.439s] [ext: omni.kit.menu.stage-1.2.7] startup
+[1.442s] [ext: omni.kit.widget.settings-1.2.6] startup
+[1.446s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[1.449s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[1.455s] [ext: omni.kit.window.preferences-1.8.0] startup
+[1.477s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[1.484s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[1.486s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[1.488s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[1.498s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[1.499s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[1.501s] [ext: omni.kit.window.property-1.12.1] startup
+[1.504s] [ext: omni.ui_query-1.1.8] startup
+[1.506s] [ext: omni.kit.property.usd-4.5.12] startup
+[1.518s] [ext: omni.kit.menu.create-2.0.1] startup
+[1.520s] [ext: isaacsim.core.version-2.0.6] startup
+[1.521s] [ext: omni.kit.ui_test-1.3.7] startup
+[1.524s] [ext: omni.kit.scripting-107.3.2] startup
+[1.529s] [ext: omni.convexdecomposition-107.3.26] startup
+[1.534s] [ext: isaacsim.storage.native-1.5.1] startup
+[1.536s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[1.546s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[1.550s] [ext: omni.kvdb-107.3.26] startup
+[1.551s] [ext: omni.usdphysics-107.3.26] startup
+[1.554s] [ext: omni.physx.foundation-107.3.26] startup
+[1.556s] [ext: omni.localcache-107.3.26] startup
+[1.558s] [ext: omni.kit.window.extensions-1.4.27] startup
+[1.565s] [ext: omni.physx.cooking-107.3.26] startup
+[1.570s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[1.571s] [ext: omni.physx-107.3.26] startup
+[1.579s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[1.583s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[1.585s] [ext: omni.kit.tool.collect-2.2.18] startup
+[1.588s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[1.594s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[1.596s] [ext: isaacsim.gui.components-1.2.1] startup
+[1.599s] [ext: isaacsim.examples.browser-0.2.1] startup
+[1.601s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
+[1.663s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[1.666s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[1.670s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[1.680s] [ext: omni.fabric.commands-1.1.6] startup
+[1.682s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[1.683s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[1.685s] [ext: omni.kit.widget.layers-1.8.6] startup
+[1.693s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[1.695s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[1.695s] [ext: omni.debugdraw-0.1.4] startup
+[1.701s] [ext: omni.physics-107.3.26] startup
+[1.704s] [ext: omni.usdphysics.ui-107.3.26] startup
+[1.724s] [ext: omni.physx.commands-107.3.26] startup
+[1.728s] [ext: omni.physics.stageupdate-107.3.26] startup
+[1.730s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[1.732s] [ext: omni.physx.ui-107.3.26] startup
+[1.754s] [ext: omni.kit.widget.graph-2.0.0] startup
+[1.759s] [ext: omni.physx.supportui-107.3.26] startup
+[1.768s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[1.770s] [ext: omni.kit.numpy.common-0.1.3] startup
+[1.771s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[1.775s] [ext: omni.physics.physx-107.3.26] startup
+2026-09-19T15:15:33Z [1,755ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[1.777s] [ext: omni.physics.tensors-107.3.26] startup
+[1.780s] [ext: omni.warp.core-1.8.2] startup
+[1.886s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[1.888s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-09-19T15:15:33Z [1,871ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[1.893s] [ext: omni.physx.tensors-107.3.26] startup
+[1.898s] [ext: isaacsim.core.utils-3.5.1] startup
+[1.900s] [ext: omni.graph.image.core-0.6.1] startup
+[1.902s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[1.977s] [ext: omni.graph.image.nodes-1.3.1] startup
+[1.979s] [ext: omni.kit.stage_templates-2.0.0] startup
+[1.981s] [ext: isaacsim.core.prims-0.6.1] startup
+[1.995s] [ext: omni.syntheticdata-0.6.13] startup
+[2.005s] [ext: isaacsim.core.api-4.8.0] startup
+[2.019s] [ext: omni.videoencoding-0.1.2] startup
+[2.021s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[2.022s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[2.026s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[2.027s] [ext: isaacsim.simulation_app-2.12.2] startup
+[2.027s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[2.030s] [ext: omni.graph.nodes-1.170.10] startup
+[2.038s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[2.041s] [ext: isaacsim.test.docstring-1.1.0] startup
+[2.044s] [ext: omni.isaac.kit-2.0.6] startup
+2026-09-19T15:15:33Z [2,023ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[2.045s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
+[2.050s] [ext: omni.warp-1.8.2] startup
+[2.053s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[2.066s] [ext: omni.graph.scriptnode-1.50.0] startup
+[2.068s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
+[2.077s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[2.104s] [ext: omni.replicator.core-1.12.27] startup
+2026-09-19T15:15:33Z [2,095ms] [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
+2026-09-19T15:15:34Z [2,198ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-09-19T15:15:34Z [2,198ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-09-19T15:15:34Z [2,198ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[2.221s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
+[2.224s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[2.229s] [ext: isaacsim.core.nodes-3.4.3] startup
+[2.238s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
+2026-09-19T15:15:34Z [2,219ms] [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.
+[2.241s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[2.249s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
+[2.289s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
+[2.319s] [ext: isaacsim.core.throttling-2.2.2] startup
+[2.340s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
+[2.355s] [ext: omni.flowusd-107.1.8] startup
+2026-09-19T15:15:34Z [2,337ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
+[2.379s] [ext: isaacsim.cortex.framework-1.0.12] startup
+[2.381s] [ext: omni.isaac.core_nodes-2.0.6] startup
+2026-09-19T15:15:34Z [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.
+[2.391s] [ext: omni.isaac.cortex-1.0.5] startup
+2026-09-19T15:15:34Z [2,369ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[2.391s] [ext: omni.anim.curve.core-1.3.1] startup
+[2.458s] [ext: omni.isaac.franka-1.0.7] startup
+2026-09-19T15:15:34Z [2,444ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,446ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,471ms] [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.
+[2.492s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[2.519s] [ext: omni.isaac.lula-4.0.6] startup
+2026-09-19T15:15:34Z [2,499ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[2.521s] [ext: omni.kit.selection-0.1.6] startup
+[2.538s] [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.
+[2.634s] [ext: omni.isaac.manipulators-3.0.7] startup
+2026-09-19T15:15:34Z [2,616ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,618ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,619ms] [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.
+2026-09-19T15:15:34Z [2,619ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,620ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,620ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,620ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,620ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,620ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,621ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[2.643s] [ext: isaacsim.gui.menu-2.4.4] startup
+[2.654s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[2.662s] [ext: isaacsim.asset.browser-1.3.23] startup
+[2.666s] [ext: omni.isaac.menu-1.0.6] startup
+2026-09-19T15:15:34Z [2,648ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[2.670s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[2.676s] [ext: omni.isaac.motion_generation-8.0.7] startup
+2026-09-19T15:15:34Z [2,657ms] [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.
+2026-09-19T15:15:34Z [2,657ms] [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.
+2026-09-19T15:15:34Z [2,658ms] [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.
+2026-09-19T15:15:34Z [2,658ms] [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.
+2026-09-19T15:15:34Z [2,660ms] [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.
+2026-09-19T15:15:34Z [2,666ms] [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.
+2026-09-19T15:15:34Z [2,666ms] [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.
+2026-09-19T15:15:34Z [2,667ms] [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.
+2026-09-19T15:15:34Z [2,667ms] [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.
+2026-09-19T15:15:34Z [2,667ms] [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.
+2026-09-19T15:15:34Z [2,668ms] [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.
+2026-09-19T15:15:34Z [2,668ms] [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.
+2026-09-19T15:15:34Z [2,670ms] [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.
+2026-09-19T15:15:34Z [2,670ms] [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.
+2026-09-19T15:15:34Z [2,670ms] [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.
+2026-09-19T15:15:34Z [2,671ms] [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.
+[2.693s] [ext: omni.isaac.asset_browser-1.0.6] startup
+2026-09-19T15:15:34Z [2,673ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[2.695s] [ext: omni.isaac.nucleus-1.0.6] startup
+2026-09-19T15:15:34Z [2,677ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,679ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[2.702s] [ext: omni.isaac.quadruped-3.0.7] startup
+2026-09-19T15:15:34Z [2,681ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[2.703s] [ext: omni.isaac.assets_check-0.3.13] startup
+2026-09-19T15:15:34Z [2,683ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[2.706s] [ext: isaacsim.gui.content_browser-0.1.11] startup
+[2.712s] [ext: omni.isaac.utils-2.0.6] startup
+[2.718s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[2.736s] [ext: isaacsim.app.about-2.0.11] startup
+[2.739s] [ext: omni.isaac.version-2.0.7] startup
+2026-09-19T15:15:34Z [2,719ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[2.741s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
+[2.743s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
+2026-09-19T15:15:34Z [2,725ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,725ms] [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.
+2026-09-19T15:15:34Z [2,726ms] [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.
+2026-09-19T15:15:34Z [2,726ms] [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.
+2026-09-19T15:15:34Z [2,727ms] [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.
+2026-09-19T15:15:34Z [2,728ms] [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.
+2026-09-19T15:15:34Z [2,728ms] [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.
+2026-09-19T15:15:34Z [2,729ms] [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.
+2026-09-19T15:15:34Z [2,730ms] [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.
+2026-09-19T15:15:34Z [2,733ms] [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.
+2026-09-19T15:15:34Z [2,733ms] [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.
+2026-09-19T15:15:34Z [2,735ms] [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.
+[2.758s] [ext: omni.isaac.window.about-2.0.7] startup
+2026-09-19T15:15:34Z [2,743ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,744ms] [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.
+[2.766s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[2.779s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
+2026-09-19T15:15:34Z [2,758ms] [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.
+[2.780s] [ext: omni.sensors.nv.common-3.0.0] startup
+[2.791s] [ext: omni.kit.property.audio-1.0.16] startup
+[2.793s] [ext: omni.kit.property.camera-1.0.10] startup
+[2.796s] [ext: omni.sensors.net-1.0.0] startup
+[2.799s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[2.805s] [ext: omni.kit.property.geometry-2.0.4] startup
+[2.807s] [ext: omni.kit.property.light-1.0.12] startup
+[2.850s] [ext: omni.kit.property.material-1.11.9] startup
+[2.854s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[2.855s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[2.857s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[2.861s] [ext: omni.hydra.scene_api-0.1.2] startup
+[2.867s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[2.871s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[2.874s] [ext: omni.kit.property.render-1.2.1] startup
+[2.875s] [ext: omni.kit.property.transform-1.5.13] startup
+[2.878s] [ext: isaacsim.gui.property-1.1.3] startup
+[2.879s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[2.884s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[2.889s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[2.894s] [ext: isaacsim.core.cloner-1.4.10] startup
+[2.898s] [ext: omni.kit.property.bundle-1.4.1] startup
+[2.900s] [ext: omni.kit.property.isaac-1.0.6] startup
+2026-09-19T15:15:34Z [2,880ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,882ms] [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.
+[2.904s] [ext: omni.isaac.range_sensor-4.0.6] startup
+2026-09-19T15:15:34Z [2,885ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,885ms] [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.
+[2.907s] [ext: isaacsim.replicator.writers-1.0.17] startup
+[2.919s] [ext: omni.isaac.sensor-13.0.7] startup
+2026-09-19T15:15:34Z [2,900ms] [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.
+2026-09-19T15:15:34Z [2,900ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-09-19T15:15:34Z [2,900ms] [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.
+2026-09-19T15:15:34Z [2,900ms] [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.
+2026-09-19T15:15:34Z [2,900ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+2026-09-19T15:15:34Z [2,901ms] [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.
+[2.923s] [ext: omni.isaac.cloner-1.0.7] startup
+2026-09-19T15:15:34Z [2,903ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[2.925s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[2.940s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[2.944s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
+[2.945s] [ext: isaacsim.replicator.examples-1.3.6] startup
+[2.947s] [ext: omni.ocio-0.1.1] startup
+[2.950s] [ext: omni.rtx.window.settings-0.6.19] startup
+[2.964s] [ext: omni.kit.window.console-1.1.4] startup
+[2.976s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[2.982s] [ext: omni.replicator.isaac-2.0.8] startup
+2026-09-19T15:15:34Z [2,961ms] [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.
+[2.983s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[2.989s] [ext: omni.rtx.settings.core-0.6.5] startup
+[2.993s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[3.004s] [ext: omni.isaac.surface_gripper-2.0.6] startup
+2026-09-19T15:15:34Z [2,984ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[3.005s] [ext: semantics.schema.editor-2.0.2] startup
+[3.011s] [ext: omni.kit.ui.actions-1.0.5] startup
+[3.012s] [ext: semantics.schema.property-2.0.1] startup
+[3.014s] [ext: omni.isaac.universal_robots-1.0.6] startup
+2026-09-19T15:15:34Z [2,993ms] [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.
+2026-09-19T15:15:34Z [2,994ms] [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.
+2026-09-19T15:15:34Z [2,994ms] [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.
+[3.016s] [ext: omni.isaac.core-4.0.7] startup
+2026-09-19T15:15:34Z [2,996ms] [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.
+2026-09-19T15:15:34Z [2,996ms] [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.
+2026-09-19T15:15:34Z [2,997ms] [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.
+2026-09-19T15:15:34Z [2,997ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[3.018s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
+[3.028s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[3.035s] [ext: omni.kit.menu.common-2.0.1] startup
+[3.037s] [ext: isaacsim.exp.base-5.1.0] startup
+[3.038s] [ext: omnigibson_5_1_0-3.9.2] startup
+[3.039s] Simulation App Starting
+2026-09-19T15:15:34Z [3,065ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-09-19T15:15:34Z [3,094ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[3.144s] app ready
+[5.116s] Simulation App Startup Complete
+[5.503s] [ext: omni.physx.fabric-107.3.26] startup
+2026-09-19T15:15:37Z [5,574ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors
+
+2026-09-19T15:15:38Z [6,449ms] [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.
+
+                   ____________
+                  /          / \
+                 /          / /__
+                /          / /  /\
+               /__________/ /__/  \
+               \   _____  \ \__\  /
+                \  \  / \  \ \_/ /
+                 \  \/___\  \   /
+                  \__________\_/  
+       ___                  _  ____ _ _                     
+      / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
+     | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
+     | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
+      \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|
+
+[00:00:10.122] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ----------
+[00:00:10.195] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check.
+2026-09-19T15:16:25Z [53,340ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:16:27Z [55,592ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,708ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,738ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,738ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,829ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,829ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,862ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,862ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,862ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,862ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,863ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,863ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:27Z [55,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,512ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,517ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,523ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,523ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,673ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,674ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,944ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,944ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,965ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,965ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,966ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [56,966ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:28Z [57,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-19T15:16:28Z [57,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-19T15:16:29Z [57,880ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
+[00:01:01.819] [INFO] [omnigibson.simulator] Imported scene 0.
+[00:01:01.857] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot
+2026-09-19T15:16:37Z [65,431ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300.
+[00:01:09.813] [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.
+[00:01:09.816] [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.
+2026-09-19T15:16:38Z [66,177ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:16:38Z [66,178ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:16:38Z [66,179ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:16:38Z [66,180ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:16:40Z [68,704ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-09-19T15:16:48Z [76,575ms] [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
+2026-09-19T15:16:48Z [76,649ms] [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
+2026-09-19T15:16:57Z [85,424ms] [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
+2026-09-19T15:16:57Z [85,489ms] [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
+2026-09-19T15:17:00Z [88,637ms] [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 lower_bin_for_reachable_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 240 orient_can_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 360 uncross_can_hand_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 480 orient_can_for_drop {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 600 park_can_for_ground {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 720 park_can_for_ground {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': 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_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 960 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1080 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None}
+RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None}
+RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None}
+RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': None}
+RECOVERY progress 1560 release_into_grounded_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+RECOVERY progress 1680 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+RECOVERY progress 2160 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None}
+2026-09-19T15:23:30Z [478,861ms] [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 2280 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 2400 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 2520 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 2640 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 2760 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 2880 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3000 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3120 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3240 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3360 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3480 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': None}
+RECOVERY progress 3600 deposit_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', '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 <lambda>
+    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
+
+2026-09-19T15:29:01Z [809,223ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:29:01Z [809,223ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-19T15:29:01Z [809,223ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+[809.346s] Simulation App Shutting Down

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/supervision_mask.npy

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+{
+  "case_id": "vla-episode_00017180-f007500",
+  "kind": "vla",
+  "episode_id": "00017180",
+  "instance_id": 718,
+  "source_n_steps": 10536,
+  "seed_rank": 0,
+  "n_seeds_in_episode": 2,
+  "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017180.hdf5",
+  "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017180.json",
+  "frame": 7500,
+  "start_type": "judgement_seed",
+  "chunk_index": 2,
+  "chunk_span": [
+    4511,
+    10228
+  ],
+  "reason": "left arm was still carrying the can productively toward the trash can at f7500; NextTo first flips true at f7827 and the arm then hovers over the rim for ~80 s with NextTo oscillating four times and never releases, so a seed after f7827 lands inside the ruined stretch. Chose f7500 to sit clearly before arrival, per the earlier-frame tie-break; the left arm holds the can and the right arm holds the trash can here, matching the state at drop time minus the failure."
+}

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+  },
+  "already_complete_at_start": false,
+  "model_call_count": 0,
+  "export": "ok",
+  "export_wall_seconds": 171
+}

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+  },
+  "error": "ik_infeasible:right:[ 0.632 -0.111  0.46 ]",
+  "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 98, in main\n    result = Teacher(runtime, references).run()\n             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 1516, in run\n    operation()\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 1470, in <lambda>\n    operation = lambda: self.ground_bin_for_rim_regrasp(obj, \"blocked_deposit\")\n                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 1209, in ground_bin_for_rim_regrasp\n    self.clear_bin_footprint_from_base(bin_arm, limit=.30)\n  File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 774, in clear_bin_footprint_from_base\n    self.r.eef_world(bin_arm, bin_eef[:3, 3] + geometry[\"body\"][:3, :3] @ [forward, 0., 0.],\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:[ 0.632 -0.111  0.46 ]\n",
+  "steps": 1645,
+  "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": "can_of_soda_114",
+      "right": "trash_can_116"
+    },
+    "eef_world": {
+      "left": [
+        [
+          4.4313178062438965,
+          5.261494159698486,
+          0.655954122543335
+        ],
+        [
+          -0.7541416883468628,
+          0.26292678713798523,
+          0.563735842704773,
+          0.21057504415512085
+        ]
+      ],
+      "right": [
+        [
+          4.786487579345703,
+          5.1041669845581055,
+          0.4654831886291504
+        ],
+        [
+          -0.6044177412986755,
+          0.7317855954170227,
+          0.29437175393104553,
+          0.11186786741018295
+        ]
+      ]
+    },
+    "bin_name": "ashcan.n.01_1",
+    "object_positions": {
+      "can__of__soda.n.01_2": [
+        4.417754173278809,
+        5.256661891937256,
+        0.6502813100814819
+      ],
+      "can__of__soda.n.01_3": [
+        2.653024911880493,
+        4.583621025085449,
+        0.06461404263973236
+      ],
+      "can__of__soda.n.01_1": [
+        2.5196399688720703,
+        4.756541728973389,
+        0.07145719230175018
+      ],
+      "ashcan.n.01_1": [
+        4.949991703033447,
+        5.118676662445068,
+        0.40251556038856506
+      ]
+    },
+    "robot_pose": [
+      [
+        4.383072376251221,
+        4.660882949829102,
+        0.005285173654556274
+      ],
+      [
+        -4.6183355152606964e-05,
+        6.691329326713458e-05,
+        0.4874398410320282,
+        0.8731566071510315
+      ]
+    ]
+  },
+  "driver": {
+    "returncode": 0,
+    "wall_seconds": 471
+  }
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/run.log

@@ -0,0 +1,650 @@
+RECOVERY building environment
+[00:00:04.141] [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_105652.log
+[0.040s] [ext: omni.kit.async_engine-0.0.3] startup
+DEBUG:asyncio:Using selector: EpollSelector
+[0.091s] [ext: omni.metrics.core-0.0.3] startup
+[0.092s] [ext: omni.client.lib-1.1.0] startup
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+[0.199s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.203s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-09-21T02:56:52Z [195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:52Z [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)
+[0.204s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-09-21T02:56:52Z [213ms] [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: 44843
+| Total Page/Swap (MB): 2047 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-09-21T02:56:53Z [886ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+[1.012s] [ext: omni.materialx.libs-1.0.7] startup
+[1.018s] [ext: omni.kit.loop-isaac-1.3.7] startup
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+2026-09-21T02:56:53Z [1,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [1,228ms] [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)
+[1.239s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-09-21T02:56:53Z [1,242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [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)
+2026-09-21T02:56:53Z [1,248ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [1,248ms] [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)
+[1.258s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[1.260s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-09-21T02:56:53Z [1,252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [1,252ms] [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)
+2026-09-21T02:56:53Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [1,254ms] [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)
+2026-09-21T02:56:53Z [1,254ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T02:56:53Z [1,254ms] [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)
+[1.306s] [ext: omni.ui-2.27.1] startup
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+2026-09-21T02:56:54Z [1,577ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[1.602s] [ext: omni.kit.widget.options_button-1.0.3] startup
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+[1.670s] [ext: omni.kit.widget.stage-3.1.4] startup
+[1.682s] [ext: omni.kit.browser.folder.core-1.10.9] startup
+[1.687s] [ext: omni.kit.window.file-2.0.5] startup
+[1.691s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[1.692s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[1.692s] [ext: omni.kit.usd.collect-2.4.5] startup
+[1.695s] [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
+[1.715s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[1.726s] [ext: omni.kit.usdz_export-1.0.9] startup
+[1.728s] [ext: omni.graph.action_core-1.1.7] startup
+[1.730s] [ext: omni.graph-1.141.2] startup
+[1.760s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[1.761s] [ext: omni.kit.tool.asset_importer-4.3.2] startup
+[1.766s] [ext: omni.graph.action_nodes-1.50.4] startup
+[1.770s] [ext: omni.kit.window.stage-2.6.1] startup
+[1.777s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[1.779s] [ext: omni.graph.action-1.130.0] startup
+[1.780s] [ext: omni.kit.menu.stage-1.2.7] startup
+[1.782s] [ext: omni.kit.widget.settings-1.2.6] startup
+[1.786s] [ext: omni.kit.viewport.utility-1.1.2] startup
+[1.787s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[1.790s] [ext: omni.kit.window.preferences-1.8.0] startup
+[1.800s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[1.817s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[1.819s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[1.820s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[1.829s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[1.831s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[1.832s] [ext: omni.kit.window.property-1.12.1] startup
+[1.836s] [ext: omni.ui_query-1.1.8] startup
+[1.837s] [ext: omni.kit.property.usd-4.5.12] startup
+[1.845s] [ext: omni.kit.menu.create-2.0.1] startup
+[1.847s] [ext: isaacsim.core.version-2.0.6] startup
+[1.848s] [ext: omni.kit.ui_test-1.3.7] startup
+[1.850s] [ext: omni.kit.scripting-107.3.2] startup
+[1.853s] [ext: omni.convexdecomposition-107.3.26] startup
+[1.856s] [ext: isaacsim.storage.native-1.5.1] startup
+[1.857s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[1.863s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[1.866s] [ext: omni.kvdb-107.3.26] startup
+[1.867s] [ext: omni.usdphysics-107.3.26] startup
+[1.869s] [ext: omni.physx.foundation-107.3.26] startup
+[1.871s] [ext: omni.localcache-107.3.26] startup
+[1.872s] [ext: omni.kit.window.extensions-1.4.27] startup
+[1.876s] [ext: omni.physx.cooking-107.3.26] startup
+[1.878s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[1.880s] [ext: omni.physx-107.3.26] startup
+[1.892s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[1.898s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[1.899s] [ext: omni.kit.tool.collect-2.2.18] startup
+[1.903s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[1.909s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[1.911s] [ext: isaacsim.gui.components-1.2.1] startup
+[1.914s] [ext: isaacsim.examples.browser-0.2.1] startup
+[1.919s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
+[1.976s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[1.978s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[1.985s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[1.992s] [ext: omni.fabric.commands-1.1.6] startup
+[1.994s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[1.995s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[1.996s] [ext: omni.kit.widget.layers-1.8.6] startup
+[2.004s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[2.005s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[2.006s] [ext: omni.debugdraw-0.1.4] startup
+[2.010s] [ext: omni.physics-107.3.26] startup
+[2.012s] [ext: omni.usdphysics.ui-107.3.26] startup
+[2.029s] [ext: omni.physx.commands-107.3.26] startup
+[2.033s] [ext: omni.physics.stageupdate-107.3.26] startup
+[2.034s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[2.037s] [ext: omni.physx.ui-107.3.26] startup
+[2.057s] [ext: omni.kit.widget.graph-2.0.0] startup
+[2.061s] [ext: omni.physx.supportui-107.3.26] startup
+[2.070s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[2.072s] [ext: omni.kit.numpy.common-0.1.3] startup
+[2.073s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[2.076s] [ext: omni.physics.physx-107.3.26] startup
+2026-09-21T02:56:54Z [2,069ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.078s] [ext: omni.physics.tensors-107.3.26] startup
+[2.081s] [ext: omni.warp.core-1.8.2] startup
+[2.189s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[2.191s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-09-21T02:56:54Z [2,186ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.196s] [ext: omni.physx.tensors-107.3.26] startup
+[2.201s] [ext: isaacsim.core.utils-3.5.1] startup
+[2.204s] [ext: omni.graph.image.core-0.6.1] startup
+[2.205s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[2.280s] [ext: omni.graph.image.nodes-1.3.1] startup
+[2.281s] [ext: omni.kit.stage_templates-2.0.0] startup
+[2.282s] [ext: isaacsim.core.prims-0.6.1] startup
+[2.298s] [ext: omni.syntheticdata-0.6.13] startup
+[2.310s] [ext: isaacsim.core.api-4.8.0] startup
+[2.327s] [ext: omni.videoencoding-0.1.2] startup
+[2.330s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[2.331s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[2.333s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[2.334s] [ext: isaacsim.simulation_app-2.12.2] startup
+[2.334s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[2.337s] [ext: omni.graph.nodes-1.170.10] startup
+[2.345s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[2.348s] [ext: isaacsim.test.docstring-1.1.0] startup
+[2.353s] [ext: omni.isaac.kit-2.0.6] startup
+2026-09-21T02:56:54Z [2,345ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[2.354s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
+[2.363s] [ext: omni.warp-1.8.2] startup
+[2.370s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[2.386s] [ext: omni.graph.scriptnode-1.50.0] startup
+[2.387s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
+[2.427s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[2.520s] [ext: omni.replicator.core-1.12.27] startup
+2026-09-21T02:56:55Z [2,536ms] [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
+2026-09-21T02:56:55Z [2,609ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-09-21T02:56:55Z [2,609ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-09-21T02:56:55Z [2,609ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[2.621s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
+[2.623s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[2.628s] [ext: isaacsim.core.nodes-3.4.3] startup
+[2.638s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
+2026-09-21T02:56:55Z [2,632ms] [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.
+[2.644s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[2.657s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
+[2.688s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
+[2.701s] [ext: isaacsim.core.throttling-2.2.2] startup
+[2.706s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
+[2.708s] [ext: omni.flowusd-107.1.8] startup
+2026-09-21T02:56:55Z [2,703ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
+[2.722s] [ext: isaacsim.cortex.framework-1.0.12] startup
+[2.724s] [ext: omni.isaac.core_nodes-2.0.6] startup
+2026-09-21T02:56:55Z [2,720ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
+[2.730s] [ext: omni.isaac.cortex-1.0.5] startup
+2026-09-21T02:56:55Z [2,724ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[2.733s] [ext: omni.anim.curve.core-1.3.1] startup
+[2.800s] [ext: omni.isaac.franka-1.0.7] startup
+2026-09-21T02:56:55Z [2,802ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-21T02:56:55Z [2,835ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-21T02:56:55Z [2,910ms] [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.
+[2.924s] [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.
+[3.067s] [ext: omni.isaac.lula-4.0.6] startup
+2026-09-21T02:56:55Z [3,061ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[3.073s] [ext: omni.kit.selection-0.1.6] startup
+[3.075s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[3.081s] [ext: omni.isaac.manipulators-3.0.7] startup
+2026-09-21T02:56:55Z [3,072ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,074ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,074ms] [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.
+2026-09-21T02:56:55Z [3,075ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,075ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,076ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,076ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,076ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,076ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,076ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[3.085s] [ext: isaacsim.gui.menu-2.4.4] startup
+[3.098s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[3.107s] [ext: isaacsim.asset.browser-1.3.23] startup
+[3.117s] [ext: omni.isaac.menu-1.0.6] startup
+2026-09-21T02:56:55Z [3,109ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[3.118s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[3.132s] [ext: omni.isaac.motion_generation-8.0.7] startup
+2026-09-21T02:56:55Z [3,126ms] [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.
+2026-09-21T02:56:55Z [3,126ms] [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.
+2026-09-21T02:56:55Z [3,127ms] [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.
+2026-09-21T02:56:55Z [3,129ms] [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.
+2026-09-21T02:56:55Z [3,130ms] [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.
+2026-09-21T02:56:55Z [3,132ms] [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.
+2026-09-21T02:56:55Z [3,140ms] [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.
+2026-09-21T02:56:55Z [3,140ms] [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.
+2026-09-21T02:56:55Z [3,140ms] [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.
+2026-09-21T02:56:55Z [3,140ms] [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.
+2026-09-21T02:56:55Z [3,143ms] [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.
+2026-09-21T02:56:55Z [3,143ms] [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.
+2026-09-21T02:56:55Z [3,146ms] [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.
+2026-09-21T02:56:55Z [3,146ms] [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.
+2026-09-21T02:56:55Z [3,146ms] [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.
+2026-09-21T02:56:55Z [3,146ms] [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.
+[3.156s] [ext: omni.isaac.asset_browser-1.0.6] startup
+2026-09-21T02:56:55Z [3,149ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.158s] [ext: omni.isaac.nucleus-1.0.6] startup
+2026-09-21T02:56:55Z [3,152ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,153ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[3.162s] [ext: omni.isaac.quadruped-3.0.7] startup
+2026-09-21T02:56:55Z [3,154ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[3.164s] [ext: omni.isaac.assets_check-0.3.13] startup
+2026-09-21T02:56:55Z [3,156ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.167s] [ext: isaacsim.gui.content_browser-0.1.11] startup
+[3.174s] [ext: omni.isaac.utils-2.0.6] startup
+[3.177s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[3.190s] [ext: isaacsim.app.about-2.0.11] startup
+[3.194s] [ext: omni.isaac.version-2.0.7] startup
+2026-09-21T02:56:55Z [3,186ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[3.196s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
+[3.198s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
+2026-09-21T02:56:55Z [3,192ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,192ms] [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.
+2026-09-21T02:56:55Z [3,193ms] [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.
+2026-09-21T02:56:55Z [3,195ms] [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.
+2026-09-21T02:56:55Z [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.
+2026-09-21T02:56:55Z [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.
+2026-09-21T02:56:55Z [3,197ms] [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.
+2026-09-21T02:56:55Z [3,197ms] [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.
+2026-09-21T02:56:55Z [3,198ms] [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.
+2026-09-21T02:56:55Z [3,198ms] [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.
+2026-09-21T02:56:55Z [3,198ms] [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.
+2026-09-21T02:56:55Z [3,201ms] [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.
+[3.213s] [ext: omni.isaac.window.about-2.0.7] startup
+2026-09-21T02:56:55Z [3,217ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,218ms] [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.
+[3.229s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[3.241s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
+2026-09-21T02:56:55Z [3,233ms] [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.
+[3.242s] [ext: omni.sensors.nv.common-3.0.0] startup
+[3.259s] [ext: omni.kit.property.audio-1.0.16] startup
+[3.261s] [ext: omni.kit.property.camera-1.0.10] startup
+[3.263s] [ext: omni.sensors.net-1.0.0] startup
+[3.265s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[3.268s] [ext: omni.kit.property.geometry-2.0.4] startup
+[3.270s] [ext: omni.kit.property.light-1.0.12] startup
+[3.308s] [ext: omni.kit.property.material-1.11.9] startup
+[3.312s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[3.313s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[3.315s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[3.319s] [ext: omni.hydra.scene_api-0.1.2] startup
+[3.325s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[3.329s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[3.332s] [ext: omni.kit.property.render-1.2.1] startup
+[3.333s] [ext: omni.kit.property.transform-1.5.13] startup
+[3.336s] [ext: isaacsim.gui.property-1.1.3] startup
+[3.337s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[3.343s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[3.348s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[3.356s] [ext: isaacsim.core.cloner-1.4.10] startup
+[3.359s] [ext: omni.kit.property.bundle-1.4.1] startup
+[3.361s] [ext: omni.kit.property.isaac-1.0.6] startup
+2026-09-21T02:56:55Z [3,353ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,353ms] [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.
+[3.362s] [ext: omni.isaac.range_sensor-4.0.6] startup
+2026-09-21T02:56:55Z [3,356ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,356ms] [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.
+[3.365s] [ext: isaacsim.replicator.writers-1.0.17] startup
+[3.378s] [ext: omni.isaac.sensor-13.0.7] startup
+2026-09-21T02:56:55Z [3,371ms] [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.
+2026-09-21T02:56:55Z [3,371ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-09-21T02:56:55Z [3,371ms] [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.
+2026-09-21T02:56:55Z [3,371ms] [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.
+2026-09-21T02:56:55Z [3,371ms] [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.
+2026-09-21T02:56:55Z [3,371ms] [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.
+2026-09-21T02:56:55Z [3,372ms] [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.
+2026-09-21T02:56:55Z [3,372ms] [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.
+2026-09-21T02:56:55Z [3,372ms] [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.
+2026-09-21T02:56:55Z [3,373ms] [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.
+2026-09-21T02:56:55Z [3,373ms] [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.
+[3.384s] [ext: omni.isaac.cloner-1.0.7] startup
+2026-09-21T02:56:55Z [3,376ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[3.386s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[3.397s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[3.402s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
+[3.405s] [ext: isaacsim.replicator.examples-1.3.6] startup
+[3.408s] [ext: omni.ocio-0.1.1] startup
+[3.412s] [ext: omni.rtx.window.settings-0.6.19] startup
+[3.422s] [ext: omni.kit.window.console-1.1.4] startup
+[3.437s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[3.445s] [ext: omni.replicator.isaac-2.0.8] startup
+2026-09-21T02:56:56Z [3,437ms] [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.
+[3.446s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[3.452s] [ext: omni.rtx.settings.core-0.6.5] startup
+[3.458s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[3.474s] [ext: omni.isaac.surface_gripper-2.0.6] startup
+2026-09-21T02:56:56Z [3,466ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[3.476s] [ext: semantics.schema.editor-2.0.2] startup
+[3.482s] [ext: omni.kit.ui.actions-1.0.5] startup
+[3.484s] [ext: semantics.schema.property-2.0.1] startup
+[3.486s] [ext: omni.isaac.universal_robots-1.0.6] startup
+2026-09-21T02:56:56Z [3,478ms] [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.
+2026-09-21T02:56:56Z [3,478ms] [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.
+2026-09-21T02:56:56Z [3,479ms] [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.
+[3.488s] [ext: omni.isaac.core-4.0.7] startup
+2026-09-21T02:56:56Z [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.
+2026-09-21T02:56:56Z [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.
+2026-09-21T02:56:56Z [3,483ms] [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.
+2026-09-21T02:56:56Z [3,483ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[3.492s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
+[3.505s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[3.512s] [ext: omni.kit.menu.common-2.0.1] startup
+[3.515s] [ext: isaacsim.exp.base-5.1.0] startup
+[3.516s] [ext: omnigibson_5_1_0-3.9.2] startup
+[3.517s] Simulation App Starting
+2026-09-21T02:56:56Z [3,574ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-09-21T02:56:56Z [3,607ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[3.657s] app ready
+[7.690s] Simulation App Startup Complete
+[8.053s] [ext: omni.physx.fabric-107.3.26] startup
+2026-09-21T02:57:00Z [8,248ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors
+
+2026-09-21T02:57:01Z [9,265ms] [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.
+
+                   ____________
+                  /          / \
+                 /          / /__
+                /          / /  /\
+               /__________/ /__/  \
+               \   _____  \ \__\  /
+                \  \  / \  \ \_/ /
+                 \  \/___\  \   /
+                  \__________\_/  
+       ___                  _  ____ _ _                     
+      / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
+     | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
+     | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
+      \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|
+
+[00:00:13.463] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ----------
+[00:00:13.729] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check.
+2026-09-21T02:58:02Z [69,417ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T02:58:04Z [71,621ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
+2026-09-21T02:58:04Z [71,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,985ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [71,985ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,052ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,053ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,086ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,118ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,118ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,158ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,167ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:04Z [72,167ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,958ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,985ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [72,985ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,006ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,006ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,012ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,012ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:05Z [73,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,576ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T02:58:06Z [73,666ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+[00:01:19.025] [INFO] [omnigibson.simulator] Imported scene 0.
+[00:01:19.062] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot
+2026-09-21T02:58:15Z [83,203ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300.
+[00:01:28.225] [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.
+[00:01:28.227] [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.
+2026-09-21T02:58:16Z [84,071ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T02:58:16Z [84,072ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T02:58:16Z [84,073ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T02:58:16Z [84,074ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T02:58:19Z [87,023ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-09-21T02:58:31Z [98,752ms] [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
+2026-09-21T02:58:43Z [110,537ms] [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
+2026-09-21T02:58:47Z [115,002ms] [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_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 240 navigate_to_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': 'trash_can_116'}
+RECOVERY progress 360 grasp_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': 'trash_can_116'}
+RECOVERY progress 480 grasp_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': 'trash_can_116'}
+2026-09-21T03:01:07Z [254,827ms] [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/left_eef_link/ag_constraint
+RECOVERY progress 600 grasp_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_114', 'right': 'trash_can_116'}
+RECOVERY progress 720 coordinate_bin_under_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_114', 'right': 'trash_can_116'}
+RECOVERY progress 840 orient_can_for_drop {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 960 orient_can_for_drop {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 1080 orient_bin_for_gravity {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 1200 meet_hands_for_drop {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 1320 recover_and_reobserve {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 1440 park_can_for_ground {'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_114', 'right': 'trash_can_116'}
+RECOVERY progress 1560 advance_bin_clear_of_base {'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_114', '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 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 1470, in <lambda>
+    operation = lambda: self.ground_bin_for_rim_regrasp(obj, "blocked_deposit")
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1209, in ground_bin_for_rim_regrasp
+    self.clear_bin_footprint_from_base(bin_arm, limit=.30)
+  File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 774, in clear_bin_footprint_from_base
+    self.r.eef_world(bin_arm, bin_eef[:3, 3] + geometry["body"][:3, :3] @ [forward, 0., 0.],
+  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:[ 0.632 -0.111  0.46 ]
+
+2026-09-21T03:04:28Z [455,901ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T03:04:28Z [455,901ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T03:04:28Z [455,901ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+[456.001s] Simulation App Shutting Down

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/supervision_mask.npy

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