diff --git a/.gitattributes b/.gitattributes index 234ce2c21466b1b5b513bf51c1295b70d4f23f46..ed999efb39700a2ea7d7d7a0bf2af09d5a8cac39 100644 --- a/.gitattributes +++ b/.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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..52ac633b5ad40741ec27ad9928639c5ed455abf2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/run.log @@ -0,0 +1,656 @@ +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 +[0.261s] [ext: omni.client.lib-1.1.0] startup +[0.273s] [ext: omni.blobkey-1.1.2] startup +[0.273s] [ext: omni.stats-1.0.1] startup +[0.274s] [ext: omni.datastore-0.0.0] startup +[0.281s] [ext: omni.client-1.3.0] startup +[0.284s] [ext: omni.ujitso.default-1.0.0] startup +[0.285s] [ext: omni.hsscclient-1.1.2] startup +[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 +[1.247s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.248s] [ext: omni.kit.test-2.0.1] startup +[1.265s] [ext: omni.usd.config-1.0.6] startup +[1.267s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.267s] [ext: omni.usd.libs-1.0.1] startup +[1.395s] [ext: omni.kit.telemetry-0.5.2] startup +[1.428s] [ext: omni.mdl-56.0.3] startup +[1.445s] [ext: omni.iray.libs-0.0.0] startup +[1.452s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.455s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.571s] [ext: omni.kit.pipapi-0.0.0] startup +[1.572s] [ext: omni.appwindow-1.1.10] startup +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. +2026-09-19T15:14:04Z [1,557ms] [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) +[1.594s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.596s] [ext: omni.kit.renderer.imgui-2.0.5] startup +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 +[1.649s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.651s] [ext: carb.audio-0.1.0] startup +[1.655s] [ext: omni.uiaudio-1.0.0] startup +[1.656s] [ext: omni.kit.uiapp-0.0.0] startup +[1.656s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.659s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.662s] [ext: omni.usd_resolver-1.0.0] startup +[1.667s] [ext: omni.usd.core-1.5.3] startup +[1.670s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.689s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.710s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.713s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.716s] [ext: omni.kit.actions.core-1.0.0] startup +[1.718s] [ext: omni.activity.core-1.0.3] startup +[1.719s] [ext: omni.kit.commands-1.4.10] startup +[1.722s] [ext: usdrt.scenegraph-7.6.1] startup +[1.749s] [ext: omni.resourcemonitor-107.0.1] startup +[1.750s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.753s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.761s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.761s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.764s] [ext: omni.graph.exec-0.9.6] startup +[1.764s] [ext: omni.timeline-1.0.14] startup +[1.766s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.768s] [ext: omni.kit.exec.core-0.13.4] startup +[1.769s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.775s] [ext: omni.usd-1.13.10] startup +[1.795s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.806s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.806s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.812s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.821s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.827s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.827s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.828s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.855s] [ext: omni.inspect-1.0.2] startup +[1.856s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.859s] [ext: omni.graph.core-2.184.5] startup +[1.862s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.863s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.864s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.870s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.873s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.874s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.877s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.879s] [ext: omni.kit.clipboard-1.0.5] startup +[1.880s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.890s] [ext: omni.ui.scene-1.11.5] startup +[1.894s] [ext: omni.index.libs-380600.8087.0] startup +[1.894s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.900s] [ext: omni.index-1.0.1] startup +[1.901s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.901s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.904s] [ext: omni.volume-0.5.2] startup +[1.907s] [ext: omni.ujitso.client-0.0.0] startup +[1.907s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.908s] [ext: omni.kit.menu.core-1.1.2] startup +[1.909s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-19T15:14:04Z [1,893ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.950s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.951s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.956s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.958s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.964s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.977s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.982s] [ext: omni.kit.context_menu-1.8.6] startup +[1.985s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.989s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.990s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.992s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.999s] [ext: omni.kit.material.library-2.0.7] startup +[2.005s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.005s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.008s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.030s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[2.031s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.032s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.033s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.033s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.034s] [ext: omni.kit.browser.core-2.3.13] startup +[2.038s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.039s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.050s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.054s] [ext: omni.kit.window.file-2.0.5] startup +[2.056s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.057s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.058s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.060s] [ext: omni.graph.tools-1.79.2] startup +DEBUG:AutoNode:Defining data type 'any' as 'Any' +DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray +DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle' +DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray +DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray +DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray +DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray +DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray +DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray +DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray +DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array +DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array +DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array +DEBUG:AutoNode:Defining data type 'execution' as 'Execution' +DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray +DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array +DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array +DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array +DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray +DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray +DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array +DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array +DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array +DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray +DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array +DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array +DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array +DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array +DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray +DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray +DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray +DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray +DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray +DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray +DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray +DEBUG:AutoNode:Defining data type 'path' as 'Path' +DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray +DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray +DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray +DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray +DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray +DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray +DEBUG:AutoNode:Defining data type 'string' as 'String' +DEBUG:AutoNode:Defining data type 'target' as 'Target' +DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray +DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray +DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray +DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray +DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray +DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray +DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray +DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray +DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray +DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray +DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array +DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray +DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray +DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray +[2.082s] [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: ), 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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..405ec269db8835528039a3a31aba6a0f2fd5aeae --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017170-f007970/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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1.0286295413970947, 0.7059338092803955, 0.03803570941090584, 0.0381312370300293, 0.04999968037009239, 0.04999978467822075]} +{"step": 3397, "event": "actions_rejected", "start": 3343, "end": 3397, "reason": "eef_execution_blocked"} +{"step": 3397, "event": "primitive_failure", "operation": "deposit:can_of_soda_113", "reason": "eef_execution_blocked", "attempt": 2} +{"step": 3397, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_113", "right": null}, "eef_world": {"left": [[4.96121072769165, 5.583178997039795, 0.34128573536872864], [-0.5132291913032532, 0.6906864643096924, 0.0013030576519668102, -0.5094568729400635]], "right": [[5.422851085662842, 5.107588768005371, 0.3254159390926361], [-0.513613760471344, 0.7676090598106384, -0.08493121713399887, -0.3738502264022827]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.898126125335693, 5.5294599533081055, 0.0434030219912529], "can__of__soda.n.01_1": [2.519639730453491, 4.756545543670654, 0.07145724445581436], "can__of__soda.n.01_3": [4.939033508300781, 5.566723346710205, 0.3259202837944031], "ashcan.n.01_1": [4.91176176071167, 5.571811676025391, 0.09301038086414337]}, "robot_pose": [[4.769314765930176, 4.842432498931885, 0.016562461853027344], [0.034513264894485474, 0.0008994651143439114, 0.5121715068817139, 0.8581889867782593]]}} +{"step": 3405, "event": "primitive_start", "operation": "deposit:can_of_soda_113", "attempt": 3} +{"step": 3405, "event": "stage", "name": "deposit_can", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_113", "right": null}, "eef_world": {"left": [[4.961223125457764, 5.583292484283447, 0.34107333421707153], [-0.5135279297828674, 0.6907767057418823, 0.0016894368454813957, -0.509032130241394]], "right": [[5.422822952270508, 5.107701301574707, 0.32559069991111755], [-0.5135413408279419, 0.767733097076416, -0.08505630493164062, -0.3736667335033417]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.897006511688232, 5.52987813949585, 0.043484196066856384], "can__of__soda.n.01_1": [2.519639730453491, 4.756545543670654, 0.07145724445581436], "can__of__soda.n.01_3": [4.939047336578369, 5.566859245300293, 0.3256802260875702], "ashcan.n.01_1": [4.909362316131592, 5.5727152824401855, 0.09301184117794037]}, "robot_pose": [[4.769322872161865, 4.842432975769043, 0.016480356454849243], [0.034265339374542236, 0.0008927116869017482, 0.5121581554412842, 0.8582069873809814]]}} +{"step": 3405, "event": "approach_candidates", "key": "deposit:can_of_soda_113", "target": [4.909362316131592, 5.5727152824401855], "evaluated": 34, "traversable": 22, "previously_tried": 2, "chosen": {"xy": [5.026824863383634, 4.857800916943827], "yaw": 1.3813355801870806, "delta": 0.0, "distance": 0.68}} +{"step": 3507, "event": "eef_target", "arm": "left", "body_xyz": [0.7242360979997363, 0.17074891262720335, 0.2963483508642903], "world_xyz": [4.987785339355469, 5.5722479820251465, 0.3714303672313689], "held": {"left": "can_of_soda_113", "right": null}} +{"step": 3507, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3507, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3562, "event": "joint_tracking", "max_error_rad": 0.0016402006149291992} +{"step": 3562, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.9881911277771, 5.572048187255859, 0.3713306188583374], "desired_xyz": [4.987785339355469, 5.5722479820251465, 0.3714303672313689], "error_m": 0.0004631759178612222} +{"step": 3562, "event": "release_point_selected", "xy": [4.935454969699537, 5.581225757892286], "occupied": 1, "strategy": "farthest_from_occupied", "ring_radius_m": 0.025931951522827144, "min_distance_m": 0.06398187283492773} +{"step": 3562, "event": "eef_target", "arm": "left", "body_xyz": [0.7240143342989694, 0.1701689884775036, 0.29671603980897443], "world_xyz": [4.9881911277771, 5.572048187255859, 0.3713306188583372], "held": {"left": "can_of_soda_113", "right": null}} +{"step": 3562, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3562, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3602, "event": "joint_tracking", "max_error_rad": 0.0017951726913452148} +{"step": 3602, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.988614559173584, 5.571845054626465, 0.3712209165096283], "desired_xyz": [4.9881911277771, 5.572048187255859, 0.3713306188583372], "error_m": 0.00048227753209712106} +{"step": 3602, "event": "eef_target", "arm": "left", "body_xyz": [0.7362408039798665, 0.19125405051868505, 0.2944627024012424], "world_xyz": [4.969539942888098, 5.588241043237526, 0.37127576768398274], "held": {"left": "can_of_soda_113", "right": null}} +{"step": 3602, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3602, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3632, "event": "joint_tracking", "max_error_rad": 0.023246347904205322} +{"step": 3632, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.982982158660889, 5.579881191253662, 0.37642037868499756], "desired_xyz": [4.969539942888098, 5.588241043237526, 0.37127576768398274], "error_m": 0.016644738280493322} +{"step": 3632, "event": "eef_target", "arm": "left", "body_xyz": [0.7496906068979698, 0.21649852871729447, 0.28548105327993173], "world_xyz": [4.950465326602613, 5.604637031848585, 0.3713306188583374], "held": {"left": "can_of_soda_113", "right": null}} +{"step": 3632, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3632, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3662, "event": "joint_tracking", "max_error_rad": 0.03224754333496094} +{"step": 3670, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.984516620635986, 5.590865612030029, 0.3746850788593292], "desired_xyz": [4.950465326602613, 5.604637031848585, 0.3713306188583374], "error_m": 0.036883533332158276} +{"step": 3670, "event": "blocked_contact_pairs", "arm": "left", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link2", "body1": "/World/scene_0/can_of_soda_113/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_realsense_link", "body1": "/World/scene_0/coffee_table_koagbh_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_gripper_finger_link1", "body1": "/World/scene_0/can_of_soda_113/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_ulujpr_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_arm_link7", "body1": "/World/scene_0/coffee_table_koagbh_0/base_link"}], "actual_q": [-2.971162796020508, 1.8758374452590942, 0.00917484425008297, -0.0072681182064116, 0.12452973425388336, 2.0620856285095215, 1.2787091732025146, -0.6452959179878235, -0.2680669128894806, -0.11437343806028366, -1.234967589378357, -0.7284102439880371, -0.1420576423406601, -0.32493484020233154, -0.3467155694961548, 0.46774911880493164, 0.25491857528686523, -0.2326531857252121, 1.247444987297058, 0.04856206104159355, 0.8733887076377869, 0.6720280051231384, 1.002506136894226, 0.7059318423271179, 0.03803326562047005, 0.03820119425654411, 0.04999953880906105, 0.05000000074505806]} +{"step": 3670, "event": "actions_rejected", "start": 3602, "end": 3670, "reason": "eef_execution_blocked"} +{"step": 3670, "event": "primitive_failure", "operation": "deposit:can_of_soda_113", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..e661b496347cd25895ebcb5965d490c099db0967 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/3670 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 653, in deposit\n self.r.eef_world(arm, above[:3, 3], quat, steps=50)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 412, in _eef_world_once\n raise RecoveryFailure(\"eef_execution_blocked\")\ntask01_recovery.control.RecoveryFailure: eef_execution_blocked\n", + "steps": 3670, + "final_task": { + "inside": { + "can__of__soda.n.01_2": true, + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_3": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": "can_of_soda_113", + "right": null + }, + "eef_world": { + "left": [ + [ + 4.984516620635986, + 5.590865612030029, + 0.3746850788593292 + ], + [ + -0.6413505673408508, + 0.5749861598014832, + -0.11022750288248062, + -0.49589332938194275 + ] + ], + "right": [ + [ + 5.538767337799072, + 5.305908203125, + 0.3085741400718689 + ], + [ + -0.6434341073036194, + 0.6631706357002258, + -0.10977885872125626, + -0.36625924706459045 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 4.897698402404785, + 5.5296125411987305, + 0.04342087358236313 + ], + "can__of__soda.n.01_1": [ + 2.519639730453491, + 4.756545543670654, + 0.07145724445581436 + ], + "can__of__soda.n.01_3": [ + 4.971138954162598, + 5.56679105758667, + 0.3591981828212738 + ], + "ashcan.n.01_1": [ + 4.910851955413818, + 5.572143077850342, + 0.09300540387630463 + ] + }, + "robot_pose": [ + [ + 4.9940338134765625, + 4.850711822509766, + 0.025476112961769104 + ], + [ + 0.06027904897928238, + 0.010728506371378899, + 0.634562075138092, + 0.7704430222511292 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 821 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..88684f18dae4ce876d6ad349342559541b7976d0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f12149ca13c76a488c1d931b69cd73dbeb362675ef604a84efb4809f9b690b72 +size 479428 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..cefb31d569a292a9139b1fdd792688341f4e19ca --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/run.log @@ -0,0 +1,667 @@ +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 +[0.100s] [ext: omni.metrics.core-0.0.3] startup +[0.100s] [ext: omni.client.lib-1.1.0] startup +[0.109s] [ext: omni.blobkey-1.1.2] startup +[0.109s] [ext: omni.stats-1.0.1] startup +[0.109s] [ext: omni.datastore-0.0.0] startup +[0.113s] [ext: omni.client-1.3.0] startup +[0.117s] [ext: omni.ujitso.default-1.0.0] startup +[0.119s] [ext: omni.hsscclient-1.1.2] startup +[0.123s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.124s] [ext: omni.assets.plugins-0.0.0] startup +[0.125s] [ext: omni.gpu_foundation-0.0.0] startup +[0.129s] [ext: carb.windowing.plugins-1.0.0] startup +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 +[0.762s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.763s] [ext: omni.kit.test-2.0.1] startup +[0.780s] [ext: omni.usd.config-1.0.6] startup +[0.783s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.783s] [ext: omni.usd.libs-1.0.1] startup +[0.882s] [ext: omni.kit.telemetry-0.5.2] startup +[0.901s] [ext: omni.mdl-56.0.3] startup +[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: ), 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 + 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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..25263591911694b5b4fae09f1534365bba0d68fd --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d721819d2cdd8491e41a6e92973d5fd5cfde498e98e5667fa235677ab829a7e8 +size 3798 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b2c96eba56962a32115a333f5e9e3692c74219bb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:637968b55d2baca90f541bcc9bcd6c5c40027a58963240c26c0a42dbf6c54e61 +size 57442449 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9837ebcc6e1a52e4890586c32cac4b93810c5114 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b4cd7646d4954b5bb8466f9e0e6038429d1a19d86ee447f711655077b16239e +size 7263107 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/case.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d23b8fcc065a45f207910d8852aa3dba240579 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/case.json @@ -0,0 +1,19 @@ +{ + "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." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..b4cf72a1746a2f9075c8c9b00d39e72621035b80 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f007500/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017180-f007500", + "episode_id": "00017180", + "instance_id": 718, + "start_type": "judgement_seed", + "source_frame": 7500, + "attempt": "attempt_001", + "completed_at": "2026-09-19T15:32:00+00:00", + "success": false, + "status": "error", + "error": "eef_execution_blocked", + "teacher_steps": 3670, + "dataset_frames": 3670, + "dataset_passed": true, + "supervised_frames": 1806, + "dataset_root": "runs/vla-episode_00017180-f007500/attempt_001/dataset", + "video": "runs/vla-episode_00017180-f007500/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": "can_of_soda_114", + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 171 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0bdda4001cbb9d3b5de5ef147aa88f7af11a517a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:337a9d62e9bbae924925bd3b55b1a43e8d09d257a383d5a90c0a49f0c6872c5e +size 956857 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c9681e480a1fc5c7847001ba1ccc9ce880b3c4a9 --- /dev/null +++ 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"right": "trash_can_116"}, "eef_world": {"left": [[4.4415764808654785, 5.265293121337891, 0.6922339797019958], [-0.7366628646850586, 0.2684849202632904, 0.5795891880989075, 0.22208116948604584]], "right": [[4.777515411376953, 5.087620735168457, 0.4659508466720581], [-0.6176185607910156, 0.7303900122642517, 0.2835253179073334, 0.06849153339862823]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.4276838302612305, 5.260935306549072, 0.6869860887527466], "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": [4.9374895095825195, 5.1045637130737305, 0.39503195881843567]}, "robot_pose": [[4.383062362670898, 4.6608757972717285, 0.005284994840621948], [-4.6370550990104675e-05, 6.697294156765565e-05, 0.48744887113571167, 0.8731516003608704]]}} +{"step": 1592, "event": "bin_footprint_clearance", "forward_m": 0.09981346124700341} +{"step": 1592, "event": "eef_target", "arm": "right", "body_xyz": [0.6034599298123535, -0.11182854144525892, 0.4607565666023309], "world_xyz": [4.794975688553329, 5.115942252846796, 0.465945451368955], "held": {"left": "can_of_soda_114", "right": "trash_can_116"}} +{"step": 1592, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1592, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.01325585253290762, "held_worst_rejected_m": null, "base_box_body": [[-0.5122619068655828, -0.5371250784298891, 0.035362586016231955], [0.5040074329525006, 0.47547793398466437, 0.41093885081450676]]} +{"step": 1617, "event": "joint_tracking", "max_error_rad": 0.0037931203842163086} +{"step": 1617, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.788153171539307, 5.105984210968018, 0.4649540185928345], "desired_xyz": [4.794975688553329, 5.115942252846796, 0.465945451368955], "error_m": 0.01211165865667057} +{"step": 1617, "event": "eef_target", "arm": "right", "body_xyz": [0.6367310480628526, -0.11182834205282122, 0.46075651507360527], "world_xyz": [4.812435965729704, 5.144263770525137, 0.4659400560658525], "held": {"left": "can_of_soda_114", "right": "trash_can_116"}} +{"step": 1617, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1617, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": 0.014671854421272224, "held_worst_rejected_m": null, "base_box_body": [[-0.5122619470488602, -0.5371249326262366, 0.03536243838958324], [0.5040074365992943, 0.4754779525989162, 0.41093891989288994]]} +{"step": 1617, "event": "actions_rejected", "start": 1592, "end": 1617, "reason": "ik_infeasible:right:[ 0.637 -0.112 0.461]"} +{"step": 1617, "event": "primitive_failure", "operation": "ground_for_blocked_deposit:can_of_soda_114", "reason": "ik_infeasible:right:[ 0.637 -0.112 0.461]", "attempt": 2} +{"step": 1617, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_114", "right": "trash_can_116"}, "eef_world": {"left": [[4.442276477813721, 5.267838954925537, 0.692206859588623], [-0.7412511706352234, 0.26659145951271057, 0.5756638050079346, 0.21928758919239044]], "right": [[4.788153171539307, 5.105984210968018, 0.4649540185928345], [-0.6062951683998108, 0.7319896221160889, 0.29296398162841797, 0.1037762239575386]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.428469181060791, 5.263354778289795, 0.6868413090705872], "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": [4.950976848602295, 5.120841979980469, 0.40032556653022766]}, "robot_pose": [[4.383062362670898, 4.6608757972717285, 0.005285143852233887], [-4.6230852603912354e-05, 6.710145680699497e-05, 0.4874488115310669, 0.8731515407562256]]}} +{"step": 1625, "event": "primitive_start", "operation": "ground_for_blocked_deposit:can_of_soda_114", "attempt": 3} +{"step": 1625, "event": "stage", "name": "ground_bin_for_blocked_deposit_regrasp", "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": [[4.442599296569824, 5.268048286437988, 0.6920108199119568], [-0.7418219447135925, 0.2657957077026367, 0.5746960043907166, 0.22085586190223694]], "right": [[4.787872791290283, 5.1059651374816895, 0.46493905782699585], [-0.606336772441864, 0.7318564653396606, 0.29339656233787537, 0.10324879735708237]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.428806304931641, 5.263588905334473, 0.686588704586029], "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": [4.950606346130371, 5.120928764343262, 0.4001087248325348]}, "robot_pose": [[4.38306188583374, 4.6608757972717285, 0.005285024642944336], [-4.637613892555237e-05, 6.69580404064618e-05, 0.48744872212409973, 0.8731516599655151]]}} +{"step": 1625, "event": "stage", "name": "park_can_for_ground", "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": [[4.442599296569824, 5.268048286437988, 0.6920108199119568], [-0.7418219447135925, 0.2657957077026367, 0.5746960043907166, 0.22085586190223694]], "right": [[4.787872791290283, 5.1059651374816895, 0.46493905782699585], [-0.606336772441864, 0.7318564653396606, 0.29339656233787537, 0.10324879735708237]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.428806304931641, 5.263588905334473, 0.686588704586029], "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": [4.950606346130371, 5.120928764343262, 0.4001087248325348]}, "robot_pose": [[4.38306188583374, 4.6608757972717285, 0.005285024642944336], [-4.637613892555237e-05, 6.69580404064618e-05, 0.48744872212409973, 0.8731516599655151]]}} +{"step": 1625, "event": "park_can_for_ground", "arm": "left", "target_local": [0.45, 0.28, 0.5], "orientation_free": true} +{"step": 1625, "event": "eef_target", "arm": "left", "body_xyz": [0.5283828407134138, 0.27035642733290904, 0.649455090793546], "world_xyz": [4.430260800404745, 5.252627508181059, 0.654650187103515], "held": {"left": "can_of_soda_114", "right": "trash_can_116"}} +{"step": 1625, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1625, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.014770698909126967, "held_worst_rejected_m": null, "base_box_body": [[-0.5122619256960996, -0.5371251292355302, 0.03536260608110234], [0.5040074805856712, 0.4754779713353414, 0.41093883687444793]]} +{"step": 1645, "event": "joint_tracking", "max_error_rad": 0.00379103422164917} +{"step": 1645, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.4313178062438965, 5.261494159698486, 0.655954122543335], "desired_xyz": [4.430260800404745, 5.252627508181059, 0.654650187103515], "error_m": 0.0090241353107491} +{"step": 1645, "event": "eef_target", "arm": "left", "body_xyz": [0.5087701534622718, 0.27278302149228134, 0.6120909516064772], "world_xyz": [4.417922304239665, 5.2372067299241305, 0.6172895542950725], "held": {"left": "can_of_soda_114", "right": "trash_can_116"}} +{"step": 1645, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1645, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": 0.01528586418485367, "held_worst_rejected_m": null, "base_box_body": [[-0.512261340048248, -0.5371268657420737, 0.03536270620501127], [0.5040129210826648, 0.47548030018439835, 0.41093868709435966]]} +{"step": 1645, "event": "actions_rejected", "start": 1625, "end": 1645, "reason": "ik_infeasible:left:[0.509 0.273 0.612]"} +{"step": 1645, "event": "park_can_for_ground_blocked", "reason": "ik_infeasible:left:[0.509 0.273 0.612]", "arm": "left"} +{"step": 1645, "event": "stage", "name": "ground_bin_for_blocked_deposit_regrasp", "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]]}} +{"step": 1645, "event": "stage", "name": "advance_bin_clear_of_base", "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]]}} +{"step": 1645, "event": "bin_footprint_clearance", "forward_m": 0.0865230231941907} +{"step": 1645, "event": "eef_target", "arm": "right", "body_xyz": [0.6322346390075574, -0.11076562532350132, 0.4602916531450215], "world_xyz": [4.809191429372321, 5.14099215978638, 0.46547618568181653], "held": {"left": "can_of_soda_114", "right": "trash_can_116"}} +{"step": 1645, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1645, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": 0.01528586418485367, "held_worst_rejected_m": null, "base_box_body": [[-0.512261340048248, -0.5371268657420737, 0.03536270620501127], [0.5040129210826648, 0.47548030018439835, 0.41093868709435966]]} +{"step": 1645, "event": "actions_rejected", "start": 1645, "end": 1645, "reason": "ik_infeasible:right:[ 0.632 -0.111 0.46 ]"} +{"step": 1645, "event": "primitive_failure", "operation": "ground_for_blocked_deposit:can_of_soda_114", "reason": "ik_infeasible:right:[ 0.632 -0.111 0.46 ]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..f361fe723cf8449e069d916415725cdcb9a7c506 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1645 [00:00\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 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..838f7e0cda785fe09c1cf6cdf19729f167de2005 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fee1f027560cb562aafd23e9132abb5fd5f268d10e46b0493f7eb594796d069d +size 432023 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..13dfe066ff42b91f596854dd86033dd5a32baf49 --- /dev/null +++ b/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 +[0.101s] [ext: omni.blobkey-1.1.2] startup +[0.101s] [ext: omni.stats-1.0.1] startup +[0.102s] [ext: omni.datastore-0.0.0] startup +[0.106s] [ext: omni.client-1.3.0] startup +[0.108s] [ext: omni.ujitso.default-1.0.0] startup +[0.110s] [ext: omni.hsscclient-1.1.2] startup +[0.197s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.199s] [ext: omni.assets.plugins-0.0.0] startup +[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 +[1.019s] [ext: omni.kit.test-2.0.1] startup +[1.034s] [ext: omni.usd.config-1.0.6] startup +[1.036s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.036s] [ext: omni.usd.libs-1.0.1] startup +[1.129s] [ext: omni.kit.telemetry-0.5.2] startup +[1.146s] [ext: omni.mdl-56.0.3] startup +[1.161s] [ext: omni.iray.libs-0.0.0] startup +[1.165s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.167s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.236s] [ext: omni.kit.pipapi-0.0.0] startup +[1.236s] [ext: omni.appwindow-1.1.10] startup +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 +[1.312s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.313s] [ext: carb.audio-0.1.0] startup +[1.318s] [ext: omni.uiaudio-1.0.0] startup +[1.319s] [ext: omni.kit.uiapp-0.0.0] startup +[1.319s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.322s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.326s] [ext: omni.usd_resolver-1.0.0] startup +[1.329s] [ext: omni.usd.core-1.5.3] startup +[1.332s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.350s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.369s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.371s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.374s] [ext: omni.kit.actions.core-1.0.0] startup +[1.376s] [ext: omni.activity.core-1.0.3] startup +[1.376s] [ext: omni.kit.commands-1.4.10] startup +[1.379s] [ext: usdrt.scenegraph-7.6.1] startup +[1.403s] [ext: omni.resourcemonitor-107.0.1] startup +[1.404s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.405s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.412s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.412s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.415s] [ext: omni.graph.exec-0.9.6] startup +[1.415s] [ext: omni.timeline-1.0.14] startup +[1.416s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.418s] [ext: omni.kit.exec.core-0.13.4] startup +[1.419s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.425s] [ext: omni.usd-1.13.10] startup +[1.445s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.456s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.456s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.463s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.474s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.479s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.480s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.480s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.511s] [ext: omni.inspect-1.0.2] startup +[1.512s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.513s] [ext: omni.graph.core-2.184.5] startup +[1.517s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.518s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.518s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.527s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.532s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.533s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.537s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.538s] [ext: omni.kit.clipboard-1.0.5] startup +[1.539s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.546s] [ext: omni.ui.scene-1.11.5] startup +[1.550s] [ext: omni.index.libs-380600.8087.0] startup +[1.550s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.556s] [ext: omni.index-1.0.1] startup +[1.557s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.558s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.559s] [ext: omni.volume-0.5.2] startup +[1.562s] [ext: omni.ujitso.client-0.0.0] startup +[1.562s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.564s] [ext: omni.kit.menu.core-1.1.2] startup +[1.565s] [ext: omni.hydra.rtx-1.0.0] startup +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 +[1.604s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.608s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.608s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.614s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.622s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.626s] [ext: omni.kit.context_menu-1.8.6] startup +[1.629s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.632s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.633s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.635s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.641s] [ext: omni.kit.material.library-2.0.7] startup +[1.645s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.645s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.649s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.661s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.662s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.662s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.663s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.664s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.665s] [ext: omni.kit.browser.core-2.3.13] startup +[1.669s] [ext: omni.kit.stage_template.core-1.1.22] startup +[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: ), 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 + 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 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..d80b388b32bf2a7c3b888b1ab894c2e6c60799e6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c184ea4ed3111f8ea81aecd8c6b5affed9d55868db991975b9e910ac126256f1 +size 1773 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e15bb3fcc51381b417b1074b973064098a15f6fa --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7dca6ccbb16659bbac941ac6a29c9837670fdfaebf6a5e761e7d99061bbb0c9 +size 25894290 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..536229facb8e551c2947eba3954e93d2afc0fa9f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efe718c8f39253be4e28360156f73359ac22c2413cc0c3d27ba3ec4e4d5be3f5 +size 3072678 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/case.json new file mode 100644 index 0000000000000000000000000000000000000000..03f0c262180da08c49b842f252ca000936c13d07 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017180-f010229", + "kind": "vla", + "episode_id": "00017180", + "instance_id": 718, + "source_n_steps": 10536, + "seed_rank": 1, + "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": 10229, + "start_type": "judgement_seed", + "chunk_index": 3, + "chunk_span": [ + 10229, + 10535 + ], + "reason": "first frame of the row \u2014 right hand still holds trash_can_116, left hand empty (log IsGrasping(left) false from f10214, no later grasp events), can_of_soda_114 just fell to the floor beside the trash can at f10228; the immediate recovery is to re-pick the dropped can with the free left arm before anything else." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..eb9c3969c10c2e9be21598834b63567077f6fc18 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017180-f010229/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017180-f010229", + "episode_id": "00017180", + "instance_id": 718, + "start_type": "judgement_seed", + "source_frame": 10229, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:05:49+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:right:[ 0.632 -0.111 0.46 ]", + "teacher_steps": 1645, + "dataset_frames": 1645, + "dataset_passed": true, + "supervised_frames": 641, + "dataset_root": "runs/vla-episode_00017180-f010229/attempt_001/dataset", + "video": "runs/vla-episode_00017180-f010229/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 70 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..749b14685a13dde28e4902a75cff22850ae922b4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b8fd3431fb87de9c2e81b47043a55c59ae7911434200131a61ac99a35df8d92 +size 2285588 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a8ce0b84ee7c716f739ea2dd9e8ac9958eeb0afa --- /dev/null +++ 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Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4053 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.967s] [ext: omni.physics.tensors-107.3.26] startup +[1.971s] [ext: omni.warp.core-1.8.2] startup +[2.076s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.077s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:28:04Z [2,064ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.083s] [ext: omni.physx.tensors-107.3.26] startup +[2.088s] [ext: isaacsim.core.utils-3.5.1] startup +[2.091s] [ext: omni.graph.image.core-0.6.1] startup +[2.092s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.164s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.166s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.167s] [ext: isaacsim.core.prims-0.6.1] startup +[2.181s] [ext: omni.syntheticdata-0.6.13] startup +[2.192s] [ext: isaacsim.core.api-4.8.0] startup +[2.208s] [ext: omni.videoencoding-0.1.2] startup +[2.212s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.213s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.215s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.216s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.216s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.219s] [ext: omni.graph.nodes-1.170.10] startup +[2.227s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.230s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.234s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:28:04Z [2,216ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.235s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.243s] [ext: omni.warp-1.8.2] startup +[2.246s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.260s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.261s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.273s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.302s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:28:04Z [2,305ms] [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 +2026-09-19T15:28:04Z [2,431ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:28:04Z [2,431ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:28:04Z [2,432ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.455s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.460s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.468s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.485s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:28:05Z [2,468ms] [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. +[2.491s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.501s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.554s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.620s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.633s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.639s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:28:05Z [2,624ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.699s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.719s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:28:05Z [2,734ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.765s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:28:05Z [2,754ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.774s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.850s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:28:05Z [2,832ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:28:05Z [2,833ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:28:05Z [2,848ms] [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. +[2.867s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.876s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:28:05Z [2,858ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.877s] [ext: omni.kit.selection-0.1.6] startup +[2.881s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.888s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:28:05Z [2,870ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,871ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,871ms] [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. +2026-09-19T15:28:05Z [2,871ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:28:05Z [2,872ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.892s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.907s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.915s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.919s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:28:05Z [2,902ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.921s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.928s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:28:05Z [2,912ms] [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. +2026-09-19T15:28:05Z [2,914ms] [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. +2026-09-19T15:28:05Z [2,914ms] [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. +2026-09-19T15:28:05Z [2,916ms] [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. +2026-09-19T15:28:05Z [2,918ms] [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. +2026-09-19T15:28:05Z [2,918ms] [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. +2026-09-19T15:28:05Z [2,919ms] [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. +2026-09-19T15:28:05Z [2,919ms] [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. +2026-09-19T15:28:05Z [2,919ms] [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. +2026-09-19T15:28:05Z [2,919ms] [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. +2026-09-19T15:28:05Z [2,919ms] [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. +2026-09-19T15:28:05Z [2,921ms] [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. +2026-09-19T15:28:05Z [2,921ms] [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. +2026-09-19T15:28:05Z [2,923ms] [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. +2026-09-19T15:28:05Z [2,924ms] [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. +2026-09-19T15:28:05Z [2,924ms] [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. +[2.943s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:28:05Z [2,928ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.947s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:28:05Z [2,933ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:28:05Z [2,933ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.952s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:28:05Z [2,934ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.953s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:28:05Z [2,936ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.955s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.960s] [ext: omni.isaac.utils-2.0.6] startup +[2.962s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.982s] [ext: isaacsim.app.about-2.0.11] startup +[2.985s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:28:05Z [2,967ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.987s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.989s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:28:05Z [2,972ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:28:05Z [2,973ms] [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. +2026-09-19T15:28:05Z [2,973ms] [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. +2026-09-19T15:28:05Z [2,974ms] [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. +2026-09-19T15:28:05Z [2,975ms] [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. +2026-09-19T15:28:05Z [2,977ms] [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. +2026-09-19T15:28:05Z [2,977ms] [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. +2026-09-19T15:28:05Z [2,977ms] [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. +2026-09-19T15:28:05Z [2,978ms] [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. +2026-09-19T15:28:05Z [2,978ms] [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. +2026-09-19T15:28:05Z [2,978ms] [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. +2026-09-19T15:28:05Z [2,980ms] [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. +[2.999s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:28:05Z [2,991ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:28:05Z [2,992ms] [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. +[3.012s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.028s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:28:05Z [3,009ms] [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. +[3.029s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.038s] [ext: omni.kit.property.audio-1.0.16] startup +[3.039s] [ext: omni.kit.property.camera-1.0.10] startup +[3.040s] [ext: omni.sensors.net-1.0.0] startup +[3.043s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.049s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.053s] [ext: omni.kit.property.light-1.0.12] startup +[3.118s] [ext: omni.kit.property.material-1.11.9] startup +[3.125s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.131s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.134s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.142s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.152s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.159s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.164s] [ext: omni.kit.property.render-1.2.1] startup +[3.165s] [ext: omni.kit.property.transform-1.5.13] startup +[3.169s] [ext: isaacsim.gui.property-1.1.3] startup +[3.171s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.179s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.188s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.197s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.201s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.207s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:28:05Z [3,189ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:28:05Z [3,189ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly. +[3.208s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:28:05Z [3,190ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:28:05Z [3,190ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly. +[3.209s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.224s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,207ms] [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. +2026-09-19T15:28:05Z [3,208ms] [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. +2026-09-19T15:28:05Z [3,208ms] [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. +2026-09-19T15:28:05Z [3,208ms] [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. +[3.227s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:28:05Z [3,210ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.229s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.233s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.239s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.246s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.248s] [ext: omni.ocio-0.1.1] startup +[3.251s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.261s] [ext: omni.kit.window.console-1.1.4] startup +[3.265s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.270s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:28:05Z [3,252ms] [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. +[3.272s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.277s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.280s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.292s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:28:05Z [3,274ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.293s] [ext: semantics.schema.editor-2.0.2] startup +[3.298s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.300s] [ext: semantics.schema.property-2.0.1] startup +[3.301s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:28:05Z [3,283ms] [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. +2026-09-19T15:28:05Z [3,283ms] [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. +2026-09-19T15:28:05Z [3,284ms] [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. +[3.303s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:28:05Z [3,286ms] [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. +2026-09-19T15:28:05Z [3,286ms] [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. +2026-09-19T15:28:05Z [3,286ms] [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. +2026-09-19T15:28:05Z [3,286ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.305s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.317s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.325s] [ext: omni.kit.menu.common-2.0.1] startup +[3.327s] [ext: isaacsim.exp.base-5.1.0] startup +[3.328s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.329s] Simulation App Starting +2026-09-19T15:28:06Z [3,632ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.691s] app ready +[5.477s] Simulation App Startup Complete +[5.847s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:28:08Z [5,932ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:28:09Z [6,928ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.540] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.713] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:29:05Z [63,242ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:29:08Z [65,792ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,792ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,793ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,793ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,793ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,793ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,907ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,907ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,938ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,938ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,970ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,970ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [65,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,015ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,059ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,105ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,105ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,106ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,106ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,113ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:08Z [66,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,868ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,913ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,913ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,917ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,917ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,922ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [66,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [67,154ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [67,155ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:09Z [67,155ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:09Z [67,155ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,473ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,474ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,580ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:29:10Z [67,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:29:11Z [68,497ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:12.382] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.422] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:29:20Z [77,567ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:22.018] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:22.020] [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. +2026-09-19T15:29:20Z [78,434ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:29:20Z [78,435ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:29:20Z [78,436ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:29:20Z [78,437ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:29:24Z [81,459ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:29:26Z [83,657ms] [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 +2026-09-19T15:29:29Z [87,022ms] [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 +2026-09-19T15:29:36Z [94,181ms] [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_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:32:04Z [241,583ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 600 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 720 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 840 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 1200 release_into_aligned_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 retract_hand_after_release {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 human_carry_pose_for_pick {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:35:47Z [465,197ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 1920 grasp_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2040 coordinate_bin_under_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2160 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2280 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2400 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2520 meet_hands_for_drop {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 2640 retract_hand_after_release {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3120 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3240 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3360 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:40:21Z [738,580ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 3480 grasp_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3600 coordinate_bin_under_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3720 orient_bin_for_gravity {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3840 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3960 meet_hands_for_drop {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 4080 release_into_aligned_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 verify_goal {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-19T15:41:41Z [818,682ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:41:41Z [818,682ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:41:41Z [818,682ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[818.794s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/attempt_001/supervision_mask.npy 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Robot then wanders the kitchen/dining area for ~9300 frames and never returns to the living room, so no phase-B pick-up ever launches. Seeding at the row's first frame preserves the demo-shaped state (trash_can freshly gripped, both cans on floor, no time wasted) and matches the state at which the demos begin phase B; any later frame restores the same wandering-with-trash_can state the rollout already failed from. can_of_soda_113 chosen arbitrarily from the three equivalent flexible-order targets in phase B." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..87b69f3ce0c5fe769a3452605d2221df471c6e26 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017190-f001253/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": 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{ + "case_id": "vla-episode_00017200-f004872", + "kind": "vla", + "episode_id": "00017200", + "instance_id": 720, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017200.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017200.json", + "frame": 4872, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4371, + 10535 + ], + "reason": "Seed at f4872 where productive carry ended. Frames 4371-4871 (501 frames) brought the can from floor to trash can rim, matching task expectations. At f4872 first Touching(can, trash_can) fires; everything after is futile: 34 Touching flips across 5,357 frames (178.6s) with Inside never firing, wrist views f5000-10525 identical. Left hand holding trash_can_116 throughout, so only right arm is free; target is trash_can_116 which left is holding." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08f0d3426682e90aa8ff386ff29b01fc3930c839 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/events.jsonl @@ -0,0 +1,333 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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[-3.7015347480773926, 0.2188434898853302, 0.014399862848222256, 0.011194535531103611, 0.01066518109291792, 1.9803909063339233, 1.4331567287445068, -1.9427452087402344, -1.1966897249221802, 0.1499965488910675, -1.2606078386306763, -0.365257203578949, -0.11135507375001907, -0.5491371154785156, -0.5789783596992493, -0.133104145526886, -0.6517835259437561, -1.2697734832763672, 0.6818184852600098, -0.2089301496744156, 1.0471570491790771, -0.14357250928878784, 0.008775822818279266, 1.1966981887817383, 0.0499984547495842, 0.04999946057796478, 0.019540751352906227, 0.019225114956498146]} +{"step": 1779, "event": "actions_rejected", "start": 1717, "end": 1779, "reason": "eef_execution_blocked"} +{"step": 1779, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..ffd45ac2163699dfb1c60aa81b7b129a2992bc3d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1779 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 653, in deposit\n self.r.eef_world(arm, above[:3, 3], quat, steps=50)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 412, in _eef_world_once\n raise RecoveryFailure(\"eef_execution_blocked\")\ntask01_recovery.control.RecoveryFailure: eef_execution_blocked\n", + "steps": 1779, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": "can_of_soda_114" + }, + "eef_world": { + "left": [ + [ + 3.483933925628662, + 4.8217034339904785, + 0.4561185836791992 + ], + [ + -0.5314827561378479, + 0.8307827711105347, + -0.09820917993783951, + 0.1329699009656906 + ] + ], + "right": [ + [ + 3.7880961894989014, + 4.60798454284668, + 0.49336373805999756 + ], + [ + -0.7577610015869141, + 0.3518548607826233, + 0.5395569205284119, + 0.10428270697593689 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 3.402617931365967, + 6.73795747756958, + 0.06461401283740997 + ], + "can__of__soda.n.01_1": [ + 3.959184408187866, + 6.148391246795654, + 0.0714573934674263 + ], + "can__of__soda.n.01_2": [ + 3.7545151710510254, + 4.618442058563232, + 0.44448843598365784 + ], + "ashcan.n.01_1": [ + 3.809448003768921, + 4.665131092071533, + 0.09301253408193588 + ] + }, + "robot_pose": [ + [ + 3.3807129859924316, + 4.028438091278076, + 0.012810319662094116 + ], + [ + 0.006687450688332319, + -0.009229949675500393, + 0.6036511659622192, + 0.7971672415733337 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 542 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..dd48d15a74adbad89470687dd0aeb3c5786e3b9b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edf92af3ebd19ebaf22a3e42b0190482959c8b6fdbc3af5a44238a0d05e0176c +size 429605 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..3968aa9bbb67a3af639b74bf2820cd70e453114c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/run.log @@ -0,0 +1,650 @@ +RECOVERY building environment +[00:00:04.257] [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_232933.log +[0.094s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.215s] [ext: omni.metrics.core-0.0.3] startup +[0.216s] [ext: omni.client.lib-1.1.0] startup +[0.236s] [ext: omni.blobkey-1.1.2] startup +[0.237s] [ext: omni.stats-1.0.1] startup +[0.238s] [ext: omni.datastore-0.0.0] startup +[0.245s] [ext: omni.client-1.3.0] startup +[0.250s] [ext: omni.ujitso.default-1.0.0] startup +[0.252s] [ext: omni.hsscclient-1.1.2] startup +[0.258s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.260s] [ext: omni.assets.plugins-0.0.0] startup +[0.262s] [ext: omni.gpu_foundation-0.0.0] startup +[0.269s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-19T15:29:33Z [244ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:33Z [244ms] [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) +[0.271s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-19T15:29:33Z [272ms] [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: 43653 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-19T15:29:34Z [892ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.100s] [ext: omni.materialx.libs-1.0.7] startup +[1.110s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.111s] [ext: omni.kit.test-2.0.1] startup +[1.136s] [ext: omni.usd.config-1.0.6] startup +[1.139s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.140s] [ext: omni.usd.libs-1.0.1] startup +[1.280s] [ext: omni.kit.telemetry-0.5.2] startup +[1.311s] [ext: omni.mdl-56.0.3] startup +[1.340s] [ext: omni.iray.libs-0.0.0] startup +[1.346s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.349s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.435s] [ext: omni.kit.pipapi-0.0.0] startup +[1.438s] [ext: omni.appwindow-1.1.10] startup +2026-09-19T15:29:34Z [1,413ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,413ms] [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) +[1.440s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-19T15:29:34Z [1,426ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,426ms] [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) +2026-09-19T15:29:34Z [1,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,432ms] [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) +[1.459s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.460s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-19T15:29:34Z [1,436ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,436ms] [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) +2026-09-19T15:29:34Z [1,437ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,437ms] [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) +2026-09-19T15:29:34Z [1,438ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T15:29:34Z [1,438ms] [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) +[1.502s] [ext: omni.ui-2.27.1] startup +[1.509s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.510s] [ext: carb.audio-0.1.0] startup +[1.513s] [ext: omni.uiaudio-1.0.0] startup +[1.514s] [ext: omni.kit.uiapp-0.0.0] startup +[1.514s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.516s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.519s] [ext: omni.usd_resolver-1.0.0] startup +[1.522s] [ext: omni.usd.core-1.5.3] startup +[1.525s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.541s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.560s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.562s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.564s] [ext: omni.kit.actions.core-1.0.0] startup +[1.566s] [ext: omni.activity.core-1.0.3] startup +[1.567s] [ext: omni.kit.commands-1.4.10] startup +[1.569s] [ext: usdrt.scenegraph-7.6.1] startup +[1.593s] [ext: omni.resourcemonitor-107.0.1] startup +[1.594s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.595s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.603s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.603s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.606s] [ext: omni.graph.exec-0.9.6] startup +[1.606s] [ext: omni.timeline-1.0.14] startup +[1.608s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.609s] [ext: omni.kit.exec.core-0.13.4] startup +[1.610s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.616s] [ext: omni.usd-1.13.10] startup +[1.638s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.648s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.648s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.653s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.661s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.665s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.666s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.666s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.691s] [ext: omni.inspect-1.0.2] startup +[1.692s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.693s] [ext: omni.graph.core-2.184.5] startup +[1.695s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.696s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.696s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.702s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.705s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.705s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.709s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.709s] [ext: omni.kit.clipboard-1.0.5] startup +[1.710s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.716s] [ext: omni.ui.scene-1.11.5] startup +[1.719s] [ext: omni.index.libs-380600.8087.0] startup +[1.719s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.724s] [ext: omni.index-1.0.1] startup +[1.725s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.725s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.727s] [ext: omni.volume-0.5.2] startup +[1.729s] [ext: omni.ujitso.client-0.0.0] startup +[1.729s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.730s] [ext: omni.kit.menu.core-1.1.2] startup +[1.730s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-19T15:29:35Z [1,720ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.762s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.762s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.765s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.766s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.769s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.775s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.779s] [ext: omni.kit.context_menu-1.8.6] startup +[1.780s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.783s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.783s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.784s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.790s] [ext: omni.kit.material.library-2.0.7] startup +[1.794s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.794s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.797s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.809s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.809s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.810s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.810s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.811s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.811s] [ext: omni.kit.browser.core-2.3.13] startup +[1.813s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.814s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.821s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.823s] [ext: omni.kit.window.file-2.0.5] startup +[1.825s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.825s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.826s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.827s] [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 +[1.842s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.849s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.850s] [ext: omni.graph.action_core-1.1.7] startup +[1.852s] [ext: omni.graph-1.141.2] startup +[1.878s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.878s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.882s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.886s] [ext: omni.kit.window.stage-2.6.1] startup +[1.893s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.895s] [ext: omni.graph.action-1.130.0] startup +[1.896s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.900s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.903s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.904s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.912s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.946s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.952s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.955s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.957s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.970s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.974s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.977s] [ext: omni.kit.window.property-1.12.1] startup +[1.980s] [ext: omni.ui_query-1.1.8] startup +[1.981s] [ext: omni.kit.property.usd-4.5.12] startup +[1.995s] [ext: omni.kit.menu.create-2.0.1] startup +[1.998s] [ext: isaacsim.core.version-2.0.6] startup +[2.000s] [ext: omni.kit.ui_test-1.3.7] startup +[2.003s] [ext: omni.kit.scripting-107.3.2] startup +[2.008s] [ext: omni.convexdecomposition-107.3.26] startup +[2.016s] [ext: isaacsim.storage.native-1.5.1] startup +[2.018s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.031s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.038s] [ext: omni.kvdb-107.3.26] startup +[2.040s] [ext: omni.usdphysics-107.3.26] startup +[2.045s] [ext: omni.physx.foundation-107.3.26] startup +[2.048s] [ext: omni.localcache-107.3.26] startup +[2.051s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.059s] [ext: omni.physx.cooking-107.3.26] startup +[2.066s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.068s] [ext: omni.physx-107.3.26] startup +[2.082s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.093s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.100s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.110s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.122s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.126s] [ext: isaacsim.gui.components-1.2.1] startup +[2.132s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.139s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.254s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.261s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.275s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.287s] [ext: omni.fabric.commands-1.1.6] startup +[2.291s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.294s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.295s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.307s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.309s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.310s] [ext: omni.debugdraw-0.1.4] startup +[2.315s] [ext: omni.physics-107.3.26] startup +[2.318s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.337s] [ext: omni.physx.commands-107.3.26] startup +[2.341s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.344s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.346s] [ext: omni.physx.ui-107.3.26] startup +[2.371s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.376s] [ext: omni.physx.supportui-107.3.26] startup +[2.387s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.389s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.391s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.394s] [ext: omni.physics.physx-107.3.26] startup +2026-09-19T15:29:35Z [2,370ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.397s] [ext: omni.physics.tensors-107.3.26] startup +[2.400s] [ext: omni.warp.core-1.8.2] startup +[2.514s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.516s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:29:35Z [2,495ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.521s] [ext: omni.physx.tensors-107.3.26] startup +[2.527s] [ext: isaacsim.core.utils-3.5.1] startup +[2.529s] [ext: omni.graph.image.core-0.6.1] startup +[2.532s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.606s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.609s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.610s] [ext: isaacsim.core.prims-0.6.1] startup +[2.626s] [ext: omni.syntheticdata-0.6.13] startup +[2.636s] [ext: isaacsim.core.api-4.8.0] startup +[2.649s] [ext: omni.videoencoding-0.1.2] startup +[2.651s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.652s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.654s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.655s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.656s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.659s] [ext: omni.graph.nodes-1.170.10] startup +[2.666s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.669s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.672s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:29:35Z [2,646ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.672s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.677s] [ext: omni.warp-1.8.2] startup +[2.681s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.693s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.695s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.734s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.791s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:29:36Z [2,774ms] [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 +2026-09-19T15:29:36Z [2,836ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:29:36Z [2,836ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:29:36Z [2,837ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.865s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.867s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.874s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.884s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:29:36Z [2,861ms] [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. +[2.888s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.894s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.957s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.006s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.023s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.030s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:29:36Z [3,009ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.095s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.106s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:29:36Z [3,101ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.131s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:29:36Z [3,111ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.137s] [ext: omni.anim.curve.core-1.3.1] startup +[3.192s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:29:36Z [3,166ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:29:36Z [3,167ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:29:36Z [3,228ms] [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. +[3.254s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.330s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:29:36Z [3,306ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.332s] [ext: omni.kit.selection-0.1.6] startup +[3.337s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.441s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:29:36Z [3,420ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,420ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,423ms] [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. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +2026-09-19T15:29:36Z [3,433ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,433ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,433ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,434ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,434ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,434ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:29:36Z [3,435ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.461s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.474s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.489s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.495s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:29:36Z [3,471ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.497s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.502s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:29:36Z [3,477ms] [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. +2026-09-19T15:29:36Z [3,477ms] [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. +2026-09-19T15:29:36Z [3,477ms] [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. +2026-09-19T15:29:36Z [3,477ms] [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. +2026-09-19T15:29:36Z [3,479ms] [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. +2026-09-19T15:29:36Z [3,479ms] [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. +2026-09-19T15:29:36Z [3,479ms] [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. +2026-09-19T15:29:36Z [3,479ms] [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. +2026-09-19T15:29:36Z [3,480ms] [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. +2026-09-19T15:29:36Z [3,480ms] [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. +2026-09-19T15:29:36Z [3,480ms] [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. +2026-09-19T15:29:36Z [3,482ms] [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. +2026-09-19T15:29:36Z [3,483ms] [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. +2026-09-19T15:29:36Z [3,483ms] [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. +2026-09-19T15:29:36Z [3,484ms] [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. +2026-09-19T15:29:36Z [3,484ms] [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. +[3.513s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:29:36Z [3,490ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.517s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:29:36Z [3,493ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:29:36Z [3,494ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.520s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:29:36Z [3,495ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.522s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:29:36Z [3,497ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.524s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.529s] [ext: omni.isaac.utils-2.0.6] startup +[3.530s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.546s] [ext: isaacsim.app.about-2.0.11] startup +[3.549s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:29:36Z [3,524ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.551s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.552s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:29:36Z [3,528ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:29:36Z [3,528ms] [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. +2026-09-19T15:29:36Z [3,528ms] [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. +2026-09-19T15:29:36Z [3,529ms] [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. +2026-09-19T15:29:36Z [3,529ms] [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. +2026-09-19T15:29:36Z [3,529ms] [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. +2026-09-19T15:29:36Z [3,529ms] [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. +2026-09-19T15:29:36Z [3,529ms] [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. +2026-09-19T15:29:36Z [3,530ms] [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. +2026-09-19T15:29:36Z [3,530ms] [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. +2026-09-19T15:29:36Z [3,531ms] [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. +2026-09-19T15:29:36Z [3,533ms] [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. +[3.560s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:29:36Z [3,546ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:29:36Z [3,546ms] [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. +[3.573s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.582s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:29:36Z [3,557ms] [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. +[3.583s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.593s] [ext: omni.kit.property.audio-1.0.16] startup +[3.595s] [ext: omni.kit.property.camera-1.0.10] startup +[3.597s] [ext: omni.sensors.net-1.0.0] startup +[3.599s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.603s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.609s] [ext: omni.kit.property.light-1.0.12] startup +[3.620s] [ext: omni.kit.property.material-1.11.9] startup +[3.624s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.625s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.627s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.631s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.637s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.641s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.644s] [ext: omni.kit.property.render-1.2.1] startup +[3.645s] [ext: omni.kit.property.transform-1.5.13] startup +[3.648s] [ext: isaacsim.gui.property-1.1.3] startup +[3.650s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.655s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.662s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.674s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.678s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.682s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:29:36Z [3,657ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:29:36Z [3,657ms] [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. +[3.683s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:29:36Z [3,658ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:29:36Z [3,658ms] [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. +[3.684s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.695s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:29:36Z [3,670ms] [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. +2026-09-19T15:29:36Z [3,670ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,671ms] [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. +2026-09-19T15:29:36Z [3,672ms] [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. +2026-09-19T15:29:36Z [3,672ms] [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. +2026-09-19T15:29:36Z [3,672ms] [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. +[3.699s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:29:36Z [3,673ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.702s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.708s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.717s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.719s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.720s] [ext: omni.ocio-0.1.1] startup +[3.723s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.733s] [ext: omni.kit.window.console-1.1.4] startup +[3.738s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.742s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:29:37Z [3,717ms] [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. +[3.743s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.747s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.751s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.764s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:29:37Z [3,739ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.765s] [ext: semantics.schema.editor-2.0.2] startup +[3.769s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.771s] [ext: semantics.schema.property-2.0.1] startup +[3.772s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:29:37Z [3,747ms] [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. +2026-09-19T15:29:37Z [3,747ms] [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. +2026-09-19T15:29:37Z [3,748ms] [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. +[3.774s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:29:37Z [3,750ms] [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. +2026-09-19T15:29:37Z [3,750ms] [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. +2026-09-19T15:29:37Z [3,750ms] [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. +2026-09-19T15:29:37Z [3,750ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.777s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.787s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.792s] [ext: omni.kit.menu.common-2.0.1] startup +[3.794s] [ext: isaacsim.exp.base-5.1.0] startup +[3.794s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.795s] Simulation App Starting +2026-09-19T15:29:37Z [3,813ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T15:29:37Z [3,837ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.890s] app ready +[6.146s] Simulation App Startup Complete +[6.587s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:29:40Z [6,738ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:29:41Z [7,744ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.082] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.257] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:30:44Z [71,330ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:30:53Z [80,194ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,194ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,195ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,195ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,196ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,196ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,440ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,481ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,481ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,551ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,594ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:53Z [80,595ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,458ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,458ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,475ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,475ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,479ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,479ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,485ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,485ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,496ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:54Z [81,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,963ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,964ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,964ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:55Z [81,964ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:55Z [82,100ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:30:55Z [82,100ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:30:56Z [83,104ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:29.184] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:29.245] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:31:07Z [93,773ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:43.614] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:43.617] [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. +2026-09-19T15:31:12Z [99,322ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:31:12Z [99,323ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:31:12Z [99,324ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:31:12Z [99,325ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:31:15Z [102,130ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:31:21Z [108,554ms] [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 +2026-09-19T15:31:22Z [108,955ms] [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 +2026-09-19T15:31:28Z [115,421ms] [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 +2026-09-19T15:31:28Z [115,626ms] [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 +2026-09-19T15:31:33Z [120,583ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 240 transport_posture {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 360 park_can_for_ground {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 480 orient_bin_for_gravity {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 600 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 720 ground_bin_for_blocked_deposit_regrasp {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 840 ground_joint_lower {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'trash_can_116', 'right': 'can_of_soda_114'} +RECOVERY progress 960 ground_joint_lower {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 653, in deposit + self.r.eef_world(arm, above[:3, 3], quat, steps=50) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 412, in _eef_world_once + raise RecoveryFailure("eef_execution_blocked") +task01_recovery.control.RecoveryFailure: eef_execution_blocked + +2026-09-19T15:38:22Z [529,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:38:22Z [529,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:38:22Z [529,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[529.450s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..87b4f4cb73e0ec19630f5ae80a69cc0d7c336be6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0448064898815fab7ce71fb0ba16e52c7cf0bc02c38446df4f4656c5280c6317 +size 1907 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..0e99a16de5118e69e5cdc5d77f1efb8360ffce9c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d4995d60569d78fb5a4da674d786fb6a5950ff7030d02ec84360e1af64a3978 +size 27978299 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a72c04ee22e96af80380bbc9af08daf132ecf01f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2501a46345c5f3e8b254f94a4c1f146a17fff8c3a0df746b8f0b844383f0f7e4 +size 3305684 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/case.json new file mode 100644 index 0000000000000000000000000000000000000000..2241a052f71b4dadb17f841e54d5259db395004e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017200-f004872", + "kind": "vla", + "episode_id": "00017200", + "instance_id": 720, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017200.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017200.json", + "frame": 4872, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 4371, + 10535 + ], + "reason": "Seed at f4872 where productive carry ended. Frames 4371-4871 (501 frames) brought the can from floor to trash can rim, matching task expectations. At f4872 first Touching(can, trash_can) fires; everything after is futile: 34 Touching flips across 5,357 frames (178.6s) with Inside never firing, wrist views f5000-10525 identical. Left hand holding trash_can_116 throughout, so only right arm is free; target is trash_can_116 which left is holding." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..6793813b88cd605e86db7ca90168ebdb01ab101d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017200-f004872/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017200-f004872", + "episode_id": "00017200", + "instance_id": 720, + "start_type": "judgement_seed", + "source_frame": 4872, + "attempt": "attempt_001", + "completed_at": "2026-09-19T15:39:40+00:00", + "success": false, + "status": "error", + "error": 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"case": { + "case_id": "vla-episode_00017250-f003601", + "kind": "vla", + "episode_id": "00017250", + "instance_id": 725, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017250.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017250.json", + "frame": 3601, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 3601, + 4312 + ], + "reason": "By f3600 the robot had cleanly placed two cans (both Inside=True and not regressed) and still held the trash in the right hand. The next frame is where the plan diverges: instead of navigating to can_114 the robot began setting the trash down (OnTop ashcan/floor True by f4248, IsGrasping right/trash False at f4312). Restore at f3601 with the correct state \u2014 trash in right, left free, two cans Inside \u2014 and resume by picking can_114 with the left hand." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1779e53516c321860e619a80da9e72b84eb9769 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/events.jsonl @@ -0,0 +1,152 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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@@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1502 [00:00), by client: omni.physics.physx.plugin. 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No action is needed from end-users. +[2.670s] [ext: omni.physx.tensors-107.3.26] startup +[2.676s] [ext: isaacsim.core.utils-3.5.1] startup +[2.679s] [ext: omni.graph.image.core-0.6.1] startup +[2.682s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.767s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.769s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.772s] [ext: isaacsim.core.prims-0.6.1] startup +[2.790s] [ext: omni.syntheticdata-0.6.13] startup +[2.803s] [ext: isaacsim.core.api-4.8.0] startup +[2.823s] [ext: omni.videoencoding-0.1.2] startup +[2.827s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.828s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.831s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.832s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.833s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.839s] [ext: omni.graph.nodes-1.170.10] startup +[2.853s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.857s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.862s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:38:38Z [2,847ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.862s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.876s] [ext: omni.warp-1.8.2] startup +[2.881s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.905s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.909s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.918s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.960s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:38:38Z [2,976ms] [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 +2026-09-19T15:38:38Z [3,153ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:38:38Z [3,153ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:38:38Z [3,153ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.171s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.176s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.182s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.194s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:38:38Z [3,181ms] [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. +[3.197s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.206s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.261s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.324s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.330s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.361s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:38:38Z [3,351ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.402s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.404s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:38:38Z [3,462ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.495s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:38:38Z [3,492ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.507s] [ext: omni.anim.curve.core-1.3.1] startup +[3.527s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:38:38Z [3,512ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:38:38Z [3,512ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:38:38Z [3,525ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +[3.540s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.550s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:38:38Z [3,536ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.552s] [ext: omni.kit.selection-0.1.6] startup +[3.554s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.564s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:38:38Z [3,549ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,550ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,550ms] [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. +2026-09-19T15:38:38Z [3,551ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:38:38Z [3,552ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.568s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.585s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.594s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.600s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:38:38Z [3,588ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.604s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.612s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:38:38Z [3,599ms] [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. +2026-09-19T15:38:38Z [3,599ms] [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. +2026-09-19T15:38:38Z [3,600ms] [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. +2026-09-19T15:38:38Z [3,601ms] [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. +2026-09-19T15:38:38Z [3,602ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T15:38:38Z [3,602ms] [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. +2026-09-19T15:38:38Z [3,602ms] [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. +2026-09-19T15:38:38Z [3,604ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T15:38:38Z [3,605ms] [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. +2026-09-19T15:38:38Z [3,608ms] [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. +2026-09-19T15:38:38Z [3,608ms] [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. +2026-09-19T15:38:38Z [3,608ms] [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. +2026-09-19T15:38:38Z [3,609ms] [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. +2026-09-19T15:38:38Z [3,609ms] [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. +2026-09-19T15:38:38Z [3,609ms] [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. +2026-09-19T15:38:38Z [3,609ms] [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. +[3.625s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:38:38Z [3,612ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.628s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:38:38Z [3,615ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:38:38Z [3,615ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.631s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:38:38Z [3,616ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.632s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:38:38Z [3,619ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.635s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.640s] [ext: omni.isaac.utils-2.0.6] startup +[3.643s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.656s] [ext: isaacsim.app.about-2.0.11] startup +[3.660s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:38:38Z [3,645ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.661s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.662s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:38:38Z [3,650ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:38:38Z [3,651ms] [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. +2026-09-19T15:38:38Z [3,651ms] [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. +2026-09-19T15:38:38Z [3,652ms] [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. +2026-09-19T15:38:38Z [3,652ms] [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. +2026-09-19T15:38:38Z [3,653ms] [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. +2026-09-19T15:38:38Z [3,654ms] [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. +2026-09-19T15:38:38Z [3,654ms] [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. +2026-09-19T15:38:38Z [3,655ms] [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. +2026-09-19T15:38:38Z [3,655ms] [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. +2026-09-19T15:38:38Z [3,655ms] [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. +2026-09-19T15:38:38Z [3,665ms] [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. +[3.680s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:38:38Z [3,671ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:38:38Z [3,672ms] [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. +[3.687s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.695s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:38:38Z [3,680ms] [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. +[3.696s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.710s] [ext: omni.kit.property.audio-1.0.16] startup +[3.712s] [ext: omni.kit.property.camera-1.0.10] startup +[3.714s] [ext: omni.sensors.net-1.0.0] startup +[3.719s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.727s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.731s] [ext: omni.kit.property.light-1.0.12] startup +[3.807s] [ext: omni.kit.property.material-1.11.9] startup +[3.812s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.815s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.819s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.831s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.842s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.850s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.856s] [ext: omni.kit.property.render-1.2.1] startup +[3.858s] [ext: omni.kit.property.transform-1.5.13] startup +[3.862s] [ext: isaacsim.gui.property-1.1.3] startup +[3.865s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.875s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.884s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.896s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.903s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.909s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:38:39Z [3,894ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:38:39Z [3,895ms] [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. +[3.910s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:38:39Z [3,895ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:38:39Z [3,895ms] [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. +[3.911s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.924s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:38:39Z [3,911ms] [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. +2026-09-19T15:38:39Z [3,911ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:38:39Z [3,911ms] [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. +2026-09-19T15:38:39Z [3,911ms] [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. +2026-09-19T15:38:39Z [3,912ms] [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. +2026-09-19T15:38:39Z [3,912ms] [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. +2026-09-19T15:38:39Z [3,912ms] [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. +2026-09-19T15:38:39Z [3,912ms] [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. +2026-09-19T15:38:39Z [3,914ms] [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. +2026-09-19T15:38:39Z [3,914ms] [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. +2026-09-19T15:38:39Z [3,914ms] [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. +[3.930s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:38:39Z [3,918ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.934s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.941s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.950s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.952s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.955s] [ext: omni.ocio-0.1.1] startup +[3.958s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.973s] [ext: omni.kit.window.console-1.1.4] startup +[3.978s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.982s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:38:39Z [3,967ms] [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. +[3.982s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.987s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.994s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.006s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:38:39Z [3,992ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.008s] [ext: semantics.schema.editor-2.0.2] startup +[4.014s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.016s] [ext: semantics.schema.property-2.0.1] startup +[4.018s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:38:39Z [4,004ms] [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. +2026-09-19T15:38:39Z [4,004ms] [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. +2026-09-19T15:38:39Z [4,005ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly. +[4.020s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:38:39Z [4,008ms] [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. +2026-09-19T15:38:39Z [4,008ms] [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. +2026-09-19T15:38:39Z [4,008ms] [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. +2026-09-19T15:38:39Z [4,008ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.024s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.033s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.040s] [ext: omni.kit.menu.common-2.0.1] startup +[4.042s] [ext: isaacsim.exp.base-5.1.0] startup +[4.043s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.044s] Simulation App Starting +2026-09-19T15:38:39Z [4,168ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T15:38:39Z [4,191ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.230s] app ready +[6.411s] Simulation App Startup Complete +[6.768s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:38:42Z [6,892ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:38:43Z [7,917ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.339] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.418] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:39:39Z [63,826ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:39:41Z [66,537ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,921ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,921ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,952ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,988ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,988ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,988ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,988ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [66,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,051ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,051ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,088ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,089ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,094ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:42Z [67,094ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,771ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,790ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,790ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,794ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,794ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [67,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,242ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,264ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,265ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,265ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,350ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:39:43Z [68,350ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:14.142] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:14.204] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:39:52Z [77,662ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:25.396] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:25.399] [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. +2026-09-19T15:39:56Z [81,022ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:39:56Z [81,023ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:39:56Z [81,024ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:39:56Z [81,025ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:39:59Z [84,515ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:40:04Z [89,416ms] [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 +2026-09-19T15:40:09Z [94,665ms] [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 +2026-09-19T15:40:17Z [102,134ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 transport_posture {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-19T15:51:23Z [768,160ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:51:23Z [768,160ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:51:23Z [768,160ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[768.263s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..6b8590e8832f7ca0da73f1421eba0a7ee20d2eec --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b10375986cdc2a6cd7163d4a58da3ab39db5163cc953040ffc2a09bf43e144f6 +size 1630 diff 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b17bbf6ac4042b163400f3e7124e08701b89caa2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4c6422551607398947f0156ab1b9d96ba5f92434c0c92b42f658a440e31cfc +size 3379611 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/case.json new file mode 100644 index 0000000000000000000000000000000000000000..93344fe21904a13155f8b48447258cbbf93dc0a2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017250-f003601", + "kind": "vla", + "episode_id": "00017250", + "instance_id": 725, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017250.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017250.json", + "frame": 3601, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 3601, + 4312 + ], + "reason": "By f3600 the robot had cleanly placed two cans (both Inside=True and not regressed) and still held the trash in the right hand. The next frame is where the plan diverges: instead of navigating to can_114 the robot began setting the trash down (OnTop ashcan/floor True by f4248, IsGrasping right/trash False at f4312). Restore at f3601 with the correct state \u2014 trash in right, left free, two cans Inside \u2014 and resume by picking can_114 with the left hand." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..dc20f91109d00673d48475f442a01c4bbe07a5e2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f003601/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017250-f003601", + "episode_id": "00017250", + "instance_id": 725, + "start_type": "judgement_seed", + "source_frame": 3601, + "attempt": "attempt_001", + "completed_at": "2026-09-19T15:52:41+00:00", + "success": false, + "status": 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"case": { + "case_id": "vla-episode_00017250-f004313", + "kind": "vla", + "episode_id": "00017250", + "instance_id": 725, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017250.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017250.json", + "frame": 4313, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4313, + 10535 + ], + "reason": "Trash on the floor with cans_113 and _115 Inside; both grippers empty from f4312. Log shows no further IsGrasping events and head sweeps (stride 500, f5000-f10500) show the robot drifting near the couch and never returning to can_114. Earliest frame of the stall \u2014 the corrective action is to pick can_114." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88711ba0774236df17ce00e5803c73e5b7ab05da --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/events.jsonl @@ -0,0 +1,307 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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1290, "event": "joint_tracking", "max_error_rad": 0.002833127975463867} +{"step": 1290, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.8265295028686523, 7.120209217071533, 0.7435552477836609], "desired_xyz": [3.826545000076294, 7.120204925537109, 0.7436051249504092], "error_m": 5.240527144512151e-05} +{"step": 1290, "event": "eef_target", "arm": "left", "body_xyz": [0.2967266731999345, 0.24078215754163662, 0.7758720080035756], "world_xyz": [3.826545000076294, 7.120204925537109, 0.7811051249504092], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1290, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1290, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.46698698840849195, -0.4494855209531916, 0.03537196932512767], [0.3593980155490418, 0.40593357262760543, 0.4109134064405199]]} +{"step": 1310, "event": "joint_tracking", "max_error_rad": 0.002768993377685547} +{"step": 1310, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.826530694961548, 7.120210647583008, 0.7810564637184143], "desired_xyz": [3.826545000076294, 7.120204925537109, 0.7811051249504092], "error_m": 5.104207692112069e-05} +{"step": 1310, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010210.hdf5", "frame": 4607, "arm": "left", "kind": "can"} +{"step": 1310, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.826530694961548, 7.120210647583008, 0.7810564637184143], [-0.6235127449035645, 0.6133739948272705, -0.34778445959091187, 0.3377131521701813]], "right": [[4.4372239112854, 7.273596286773682, 0.44351083040237427], [-0.6371040344238281, 0.7409210801124573, -0.00511906947940588, 0.21238704025745392]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.269890785217285, 7.346752643585205, 0.268093466758728], "can__of__soda.n.01_1": [4.360469818115234, 7.318979263305664, 0.26478755474090576], "can__of__soda.n.01_2": [2.6273152828216553, 4.8927435874938965, 0.0714571475982666], "ashcan.n.01_1": [4.347475051879883, 7.32138729095459, 0.29612401127815247]}, "robot_pose": [[3.997860908508301, 6.778512001037598, 0.005284920334815979], [-5.670357495546341e-05, 5.8742298278957605e-05, 0.6264718174934387, 0.77944415807724]]}} +{"step": 1310, "event": "approach_candidates", "key": "pick:can_of_soda_114", "target": [2.6273152828216553, 4.8927435874938965], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 1310, "event": "primitive_failure", "operation": "pick:can_of_soda_114", "reason": "no_traversable_route", "attempt": 3} +{"step": 1310, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_114"} +{"step": 1310, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.826530694961548, 7.120210647583008, 0.7810564637184143], [-0.6235127449035645, 0.6133739948272705, -0.34778445959091187, 0.3377131521701813]], "right": [[4.4372239112854, 7.273596286773682, 0.44351083040237427], [-0.6371040344238281, 0.7409210801124573, -0.00511906947940588, 0.21238704025745392]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [4.269890785217285, 7.346752643585205, 0.268093466758728], "can__of__soda.n.01_1": [4.360469818115234, 7.318979263305664, 0.26478755474090576], "can__of__soda.n.01_2": [2.6273152828216553, 4.8927435874938965, 0.0714571475982666], "ashcan.n.01_1": [4.347475051879883, 7.32138729095459, 0.29612401127815247]}, "robot_pose": [[3.997860908508301, 6.778512001037598, 0.005284920334815979], [-5.670357495546341e-05, 5.8742298278957605e-05, 0.6264718174934387, 0.77944415807724]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..378650ad3c7c68772f1507dc859be21acec36b71 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1318 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.129s] [ext: omni.physics.tensors-107.3.26] startup +[2.132s] [ext: omni.warp.core-1.8.2] startup +[2.252s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.254s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:04:45Z [2,256ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.269s] [ext: omni.physx.tensors-107.3.26] startup +[2.276s] [ext: isaacsim.core.utils-3.5.1] startup +[2.282s] [ext: omni.graph.image.core-0.6.1] startup +[2.285s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.371s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.374s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.375s] [ext: isaacsim.core.prims-0.6.1] startup +[2.391s] [ext: omni.syntheticdata-0.6.13] startup +[2.402s] [ext: isaacsim.core.api-4.8.0] startup +[2.416s] [ext: omni.videoencoding-0.1.2] startup +[2.420s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.422s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.426s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.427s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.428s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.432s] [ext: omni.graph.nodes-1.170.10] startup +[2.446s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.449s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.453s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:04:45Z [2,442ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.454s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.463s] [ext: omni.warp-1.8.2] startup +[2.468s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.480s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.481s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.499s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.535s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:04:45Z [2,543ms] [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 +2026-09-21T03:04:45Z [2,630ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:04:45Z [2,630ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:04:45Z [2,631ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.645s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.648s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.652s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.661s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:04:45Z [2,651ms] [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. +[2.665s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.669s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.717s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.782s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.788s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.795s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:04:45Z [2,789ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.846s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.856s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:04:46Z [2,871ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.885s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:04:46Z [2,877ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.890s] [ext: omni.anim.curve.core-1.3.1] startup +[2.972s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:04:46Z [2,964ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:04:46Z [2,967ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +2026-09-21T03:04:46Z [3,056ms] [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. +[3.068s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.087s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:04:46Z [3,078ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.091s] [ext: omni.kit.selection-0.1.6] startup +[3.093s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.100s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:04:46Z [3,089ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,089ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,089ms] [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. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:04:46Z [3,090ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.103s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.114s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.159s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.169s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:04:46Z [3,158ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.171s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.175s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:04:46Z [3,167ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-21T03:04:46Z [3,167ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-21T03:04:46Z [3,167ms] [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. +2026-09-21T03:04:46Z [3,167ms] [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. +2026-09-21T03:04:46Z [3,167ms] [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. +2026-09-21T03:04:46Z [3,168ms] [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. +2026-09-21T03:04:46Z [3,168ms] [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. +2026-09-21T03:04:46Z [3,168ms] [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. +2026-09-21T03:04:46Z [3,168ms] [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. +2026-09-21T03:04:46Z [3,170ms] [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. +2026-09-21T03:04:46Z [3,170ms] [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. +2026-09-21T03:04:46Z [3,170ms] [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. +2026-09-21T03:04:46Z [3,170ms] [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. +2026-09-21T03:04:46Z [3,170ms] [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. +2026-09-21T03:04:46Z [3,171ms] [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. +2026-09-21T03:04:46Z [3,171ms] [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. +[3.183s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:04:46Z [3,172ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.184s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:04:46Z [3,174ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:04:46Z [3,174ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.187s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:04:46Z [3,176ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.188s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:04:46Z [3,178ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.190s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.194s] [ext: omni.isaac.utils-2.0.6] startup +[3.196s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.202s] [ext: isaacsim.app.about-2.0.11] startup +[3.204s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:04:46Z [3,193ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.205s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.206s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:04:46Z [3,196ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:04:46Z [3,196ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:04:46Z [3,196ms] [Warning] [omni.isaac.wheeled_robots.controllers.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:04:46Z [3,197ms] [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. +2026-09-21T03:04:46Z [3,197ms] [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. +2026-09-21T03:04:46Z [3,197ms] [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. +2026-09-21T03:04:46Z [3,198ms] [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. +2026-09-21T03:04:46Z [3,198ms] [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. +2026-09-21T03:04:46Z [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. +2026-09-21T03:04:46Z [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. +2026-09-21T03:04:46Z [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. +2026-09-21T03:04:46Z [3,199ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +[3.211s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:04:46Z [3,204ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:04:46Z [3,204ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly. +[3.217s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.222s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:04:46Z [3,210ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly. +[3.222s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.231s] [ext: omni.kit.property.audio-1.0.16] startup +[3.232s] [ext: omni.kit.property.camera-1.0.10] startup +[3.234s] [ext: omni.sensors.net-1.0.0] startup +[3.237s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.241s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.243s] [ext: omni.kit.property.light-1.0.12] startup +[3.309s] [ext: omni.kit.property.material-1.11.9] startup +[3.313s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.315s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.317s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.322s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.328s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.332s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.335s] [ext: omni.kit.property.render-1.2.1] startup +[3.336s] [ext: omni.kit.property.transform-1.5.13] startup +[3.339s] [ext: isaacsim.gui.property-1.1.3] startup +[3.340s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.345s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.350s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.356s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.360s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.362s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:04:46Z [3,350ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:04:46Z [3,350ms] [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. +[3.363s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:04:46Z [3,353ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:04:46Z [3,353ms] [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 +[3.377s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:04:46Z [3,367ms] [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. +2026-09-21T03:04:46Z [3,367ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:04:46Z [3,367ms] [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. +2026-09-21T03:04:46Z [3,367ms] [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. +2026-09-21T03:04:46Z [3,367ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly. +2026-09-21T03:04:46Z [3,367ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly. +2026-09-21T03:04:46Z [3,367ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly. +2026-09-21T03:04:46Z [3,367ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly. +2026-09-21T03:04:46Z [3,368ms] [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. +2026-09-21T03:04:46Z [3,368ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly. +2026-09-21T03:04:46Z [3,368ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly. +[3.380s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:04:46Z [3,369ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.382s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.392s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.396s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.397s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.398s] [ext: omni.ocio-0.1.1] startup +[3.401s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.413s] [ext: omni.kit.window.console-1.1.4] startup +[3.419s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.423s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:04:46Z [3,411ms] [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. +[3.423s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.427s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.431s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.439s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:04:46Z [3,428ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.440s] [ext: semantics.schema.editor-2.0.2] startup +[3.444s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.446s] [ext: semantics.schema.property-2.0.1] startup +[3.447s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:04:46Z [3,435ms] [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. +2026-09-21T03:04:46Z [3,435ms] [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. +2026-09-21T03:04:46Z [3,436ms] [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. +[3.448s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:04:46Z [3,437ms] [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. +2026-09-21T03:04:46Z [3,437ms] [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. +2026-09-21T03:04:46Z [3,437ms] [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. +2026-09-21T03:04:46Z [3,437ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.450s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.458s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.463s] [ext: omni.kit.menu.common-2.0.1] startup +[3.465s] [ext: isaacsim.exp.base-5.1.0] startup +[3.465s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.466s] Simulation App Starting +2026-09-21T03:04:46Z [3,501ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T03:04:46Z [3,522ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-09-21T03:04:46Z [3,541ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-09-21T03:04:46Z [3,541ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-09-21T03:04:46Z [3,541ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[3.559s] app ready +[5.786s] Simulation App Startup Complete +[6.087s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:04:49Z [6,284ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:04:50Z [7,216ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.294] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.765] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:05:45Z [62,352ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:05:48Z [65,120ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T03:05:48Z [65,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,381ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,503ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,570ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,571ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,571ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,636ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,636ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,672ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,672ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:48Z [65,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,339ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,365ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,366ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,398ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,403ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,403ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,409ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,409ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:49Z [66,554ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,837ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,838ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,838ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,838ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,861ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,861ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,861ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,862ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,949ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:05:50Z [66,949ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:12.233] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.271] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:05:58Z [75,764ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:21.364] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:21.366] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +2026-09-21T03:06:00Z [77,315ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:06:00Z [77,316ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:06:00Z [77,317ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:06:00Z [77,318ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:06:03Z [79,861ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:06:17Z [94,168ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 480 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 840 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +2026-09-21T03:10:51Z [368,805ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 human_carry_pose_for_pick {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-21T03:17:57Z [794,792ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:17:57Z [794,793ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:17:57Z [794,793ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[794.910s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..7cecd34d1b3ff33582d68005c44dbcfbf392101e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a33d29950a296636052e07aaa7b84895c433906bcc3b10e65fb2d2f78e54c462 +size 1446 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..517a9abe33db28291b8cb9ad0ca434338f65cba9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01e0b3abfcb6cab214e006167349bf42f88c33b718631a50820014cbd3cdf6ec +size 20594870 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9866cb989e83c6661eda92019c4c428a4a86011a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c3955881c7d4a858ab89ff934b93551ff9f996067d0e1513562d54861681b13 +size 2945125 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/case.json new file mode 100644 index 0000000000000000000000000000000000000000..31619d1cffd855f3a74208e5b15c04834493b19f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017250-f004313", + "kind": "vla", + "episode_id": "00017250", + "instance_id": 725, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017250.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017250.json", + "frame": 4313, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4313, + 10535 + ], + "reason": "Trash on the floor with cans_113 and _115 Inside; both grippers empty from f4312. Log shows no further IsGrasping events and head sweeps (stride 500, f5000-f10500) show the robot drifting near the couch and never returning to can_114. Earliest frame of the stall \u2014 the corrective action is to pick can_114." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..044fb5e6b77db0c3309dbffd6da147b636c2cf2d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017250-f004313/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017250-f004313", + "episode_id": "00017250", + "instance_id": 725, + "start_type": "judgement_seed", + "source_frame": 4313, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:18:59+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 1318, + "dataset_frames": 1318, + "dataset_passed": true, + "supervised_frames": 582, + "dataset_root": "runs/vla-episode_00017250-f004313/attempt_001/dataset", + "video": "runs/vla-episode_00017250-f004313/attempt_001/video.mp4", + "initial_inside": 2, + "final_inside": 2, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 60 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..36b99b14591f606ad3aca75163f5f8770e21a112 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d87c8f6f300e59dbd78f6c66cc85c081cb5f8595d27881c34cf2610da2815e9 +size 2788002 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3f4069f7bc41c70ccf9f474a31f107914e2d303e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab56c46923d0be29c4377dbe2c5e6a0315ce60119276e3b259c38a5c30720a00 +size 130468 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/info.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..12a991974ac28e539bacdc63ebeac219a99d5584 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/dataset/meta/info.json @@ -0,0 +1,317 @@ +{ + 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No target object ever enters any camera during manipulation. Seed at f0 restores the task's initial configuration so a fresh attempt can begin at phase A (pick up trash can) with the right arm as the demos do." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..922c80f100ee1943874245222c66f060d33f61f1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/events.jsonl @@ -0,0 +1,905 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"arm": "left", "body_xyz": [0.6637595524957471, 0.03425348689712787, 0.5689730483083292], "world_xyz": [3.6288552630014625, 6.7831503291129165, 0.5741505208482028], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5161, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5161, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.49132151317218303, -0.4880013732293822, 0.03536739899408655], [0.41322460629955843, 0.43247271340274346, 0.41092250016626874]]} +{"step": 5180, "event": "joint_tracking", "max_error_rad": 0.003537416458129883} +{"step": 5180, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.6287715435028076, 6.783265113830566, 0.5740988850593567], "desired_xyz": [3.6288552630014625, 6.7831503291129165, 0.5741505208482028], "error_m": 0.000151164614082691} +{"step": 5180, "event": "eef_target", "arm": "left", "body_xyz": [0.6637062714293679, 0.07716805083406658, 0.5689724706681996], "world_xyz": [3.6154776311054646, 6.742417601585209, 0.5741499429682249], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5180, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5180, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4913474314063499, -0.48804278024097003, 0.03536808241935517], [0.4132851496054632, 0.43250239904821663, 0.4109219983487624]]} +{"step": 5199, "event": "joint_tracking", "max_error_rad": 0.0035108327865600586} +{"step": 5199, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.6153929233551025, 6.742542743682861, 0.5741052627563477], "desired_xyz": [3.6154776311054646, 6.742417601585209, 0.5741499429682249], "error_m": 0.0001575825780651302} +{"step": 5199, "event": "eef_target", "arm": "left", "body_xyz": [0.663641577176545, 0.12009860581855693, 0.5689723995727869], "world_xyz": [3.602099999209466, 6.7016848740575, 0.5741493650882471], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5199, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5199, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4913743855641249, -0.4880860506707437, 0.03536822085174773], [0.41334864580734293, 0.43253318805408447, 0.4109219103084046]]} +{"step": 5218, "event": "joint_tracking", "max_error_rad": 0.0034464597702026367} +{"step": 5218, "event": "eef_tracking", "arm": "left", "actual_xyz": [3.6020312309265137, 6.701755046844482, 0.5741103887557983], "desired_xyz": [3.602099999209466, 6.7016848740575, 0.5741493650882471], "error_m": 0.0001056998167653509} +{"step": 5218, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 4614, "end": 5218} +{"step": 5218, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[3.6020312309265137, 6.701755046844482, 0.5741103887557983], [0.9889485239982605, -0.1481267809867859, 0.0020117308013141155, -0.005943543277680874]], "right": [[3.6872899532318115, 6.938347339630127, 0.4314008057117462], [0.9857953190803528, 0.015939265489578247, -0.12241542339324951, -0.11387727409601212]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [3.686957597732544, 6.785452842712402, 0.23327991366386414], "can__of__soda.n.01_3": [3.633929491043091, 6.795912265777588, 0.3436209559440613], "can__of__soda.n.01_2": [3.6631407737731934, 6.871237277984619, 0.24468888342380524], "ashcan.n.01_1": [3.6766583919525146, 6.825915813446045, 0.2931213676929474]}, "robot_pose": [[4.27011775970459, 6.6085100173950195, 0.005285397171974182], [8.050166070461273e-05, -5.683494237018749e-06, -0.9874157905578613, -0.15814580023288727]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..e4e69d81d0846feab084824edd00e3bec15042bb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5102 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.810s] [ext: omni.physics.tensors-107.3.26] startup +[1.813s] [ext: omni.warp.core-1.8.2] startup +[1.923s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.925s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:41:56Z [1,897ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.930s] [ext: omni.physx.tensors-107.3.26] startup +[1.935s] [ext: isaacsim.core.utils-3.5.1] startup +[1.938s] [ext: omni.graph.image.core-0.6.1] startup +[1.940s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.015s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.017s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.020s] [ext: isaacsim.core.prims-0.6.1] startup +[2.043s] [ext: omni.syntheticdata-0.6.13] startup +[2.053s] [ext: isaacsim.core.api-4.8.0] startup +[2.068s] [ext: omni.videoencoding-0.1.2] startup +[2.071s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.072s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.076s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.077s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.077s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.080s] [ext: omni.graph.nodes-1.170.10] startup +[2.091s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.095s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.098s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:41:56Z [2,066ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.099s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.107s] [ext: omni.warp-1.8.2] startup +[2.112s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.135s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.137s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.150s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.209s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:41:56Z [2,197ms] [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 +2026-09-19T15:41:56Z [2,346ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:41:56Z [2,346ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:41:56Z [2,347ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.384s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.389s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.397s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.408s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:41:56Z [2,378ms] [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. +[2.413s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.427s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.481s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.543s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.548s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.549s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:41:57Z [2,520ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.561s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.563s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:41:57Z [2,533ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.566s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:41:57Z [2,534ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.570s] [ext: omni.anim.curve.core-1.3.1] startup +[2.676s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:41:57Z [2,644ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:41:57Z [2,646ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:41:57Z [2,686ms] [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. +[2.722s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.772s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:41:57Z [2,740ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.773s] [ext: omni.kit.selection-0.1.6] startup +[2.775s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.779s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:41:57Z [2,746ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,747ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,747ms] [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. +2026-09-19T15:41:57Z [2,749ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,749ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,749ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,749ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,749ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,750ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:41:57Z [2,752ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.785s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.795s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.802s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.809s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:41:57Z [2,777ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.812s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.818s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:41:57Z [2,787ms] [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. +2026-09-19T15:41:57Z [2,787ms] [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. +2026-09-19T15:41:57Z [2,789ms] [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. +2026-09-19T15:41:57Z [2,790ms] [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. +2026-09-19T15:41:57Z [2,790ms] [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. +2026-09-19T15:41:57Z [2,790ms] [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. +2026-09-19T15:41:57Z [2,791ms] [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. +2026-09-19T15:41:57Z [2,791ms] [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. +2026-09-19T15:41:57Z [2,791ms] [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. +2026-09-19T15:41:57Z [2,791ms] [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. +2026-09-19T15:41:57Z [2,792ms] [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. +2026-09-19T15:41:57Z [2,793ms] [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. +2026-09-19T15:41:57Z [2,793ms] [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. +2026-09-19T15:41:57Z [2,794ms] [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. +2026-09-19T15:41:57Z [2,794ms] [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. +2026-09-19T15:41:57Z [2,794ms] [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. +[2.827s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:41:57Z [2,796ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.831s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:41:57Z [2,800ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:41:57Z [2,800ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.833s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:41:57Z [2,802ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.835s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:41:57Z [2,804ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.837s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.844s] [ext: omni.isaac.utils-2.0.6] startup +[2.847s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.855s] [ext: isaacsim.app.about-2.0.11] startup +[2.857s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:41:57Z [2,826ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.864s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.866s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:41:57Z [2,835ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:41:57Z [2,836ms] [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. +2026-09-19T15:41:57Z [2,836ms] [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. +2026-09-19T15:41:57Z [2,837ms] [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. +2026-09-19T15:41:57Z [2,837ms] [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. +2026-09-19T15:41:57Z [2,838ms] [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. +2026-09-19T15:41:57Z [2,838ms] [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. +2026-09-19T15:41:57Z [2,838ms] [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. +2026-09-19T15:41:57Z [2,839ms] [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. +2026-09-19T15:41:57Z [2,839ms] [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. +2026-09-19T15:41:57Z [2,839ms] [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. +2026-09-19T15:41:57Z [2,840ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +[2.874s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:41:57Z [2,850ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:41:57Z [2,851ms] [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. +[2.885s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.893s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:41:57Z [2,860ms] [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. +[2.893s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.905s] [ext: omni.kit.property.audio-1.0.16] startup +[2.907s] [ext: omni.kit.property.camera-1.0.10] startup +[2.908s] [ext: omni.sensors.net-1.0.0] startup +[2.911s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.916s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.918s] [ext: omni.kit.property.light-1.0.12] startup +[2.959s] [ext: omni.kit.property.material-1.11.9] startup +[2.963s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.965s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.966s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.970s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.976s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.980s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.982s] [ext: omni.kit.property.render-1.2.1] startup +[2.983s] [ext: omni.kit.property.transform-1.5.13] startup +[2.986s] [ext: isaacsim.gui.property-1.1.3] startup +[2.988s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.995s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.006s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.018s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.025s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.030s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:41:57Z [3,000ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:41:57Z [3,000ms] [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. +[3.033s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:41:57Z [3,002ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:41:57Z [3,002ms] [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. +[3.035s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.053s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:41:57Z [3,023ms] [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. +2026-09-19T15:41:57Z [3,024ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:41:57Z [3,024ms] [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. +2026-09-19T15:41:57Z [3,024ms] [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. +2026-09-19T15:41:57Z [3,024ms] [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. +2026-09-19T15:41:57Z [3,025ms] [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. +2026-09-19T15:41:57Z [3,025ms] [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. +2026-09-19T15:41:57Z [3,025ms] [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. +2026-09-19T15:41:57Z [3,026ms] [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. +2026-09-19T15:41:57Z [3,026ms] [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. +2026-09-19T15:41:57Z [3,026ms] [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. +[3.061s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:41:57Z [3,030ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.064s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.079s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.081s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.084s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.087s] [ext: omni.ocio-0.1.1] startup +[3.092s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.109s] [ext: omni.kit.window.console-1.1.4] startup +[3.120s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.126s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:41:57Z [3,094ms] [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. +[3.127s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.133s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.140s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.154s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:41:57Z [3,123ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.156s] [ext: semantics.schema.editor-2.0.2] startup +[3.162s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.163s] [ext: semantics.schema.property-2.0.1] startup +[3.165s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:41:57Z [3,132ms] [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. +2026-09-19T15:41:57Z [3,133ms] [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. +2026-09-19T15:41:57Z [3,133ms] [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. +[3.166s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:41:57Z [3,135ms] [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. +2026-09-19T15:41:57Z [3,135ms] [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. +2026-09-19T15:41:57Z [3,136ms] [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. +2026-09-19T15:41:57Z [3,136ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.169s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.183s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.192s] [ext: omni.kit.menu.common-2.0.1] startup +[3.195s] [ext: isaacsim.exp.base-5.1.0] startup +[3.196s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.198s] Simulation App Starting +2026-09-19T15:41:58Z [3,523ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.581s] app ready +[5.902s] Simulation App Startup Complete +[6.195s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:42:00Z [6,280ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:42:01Z [7,140ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.649] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.721] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:42:57Z [62,961ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:42:59Z [65,129ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T15:43:00Z [65,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,587ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,588ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,658ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,658ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,658ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,658ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,659ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,659ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,694ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,694ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,725ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,726ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,763ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,763ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,763ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,763ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,764ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,764ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:00Z [65,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,552ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,599ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,599ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,603ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,609ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,609ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,614ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,614ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,626ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,626ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [66,776ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,162ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,163ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,208ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:43:01Z [67,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:12.093] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.132] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:43:11Z [76,992ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:21.439] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:21.441] [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. +2026-09-19T15:43:12Z [77,958ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:43:12Z [77,959ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:43:12Z [77,960ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:43:12Z [77,961ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:43:15Z [80,975ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:43:23Z [88,696ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 480 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +2026-09-19T15:45:15Z [200,560ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1080 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1200 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1320 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1440 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1560 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:48:25Z [390,881ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1800 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1920 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2040 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2160 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2280 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2760 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2880 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3000 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:52:31Z [637,091ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 3120 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3240 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3360 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3480 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3600 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3720 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 3840 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3960 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4080 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4440 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-19T15:57:12Z [917,413ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 4560 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4680 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4800 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 4920 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 5040 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 5160 release_into_aligned_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-19T15:58:32Z [998,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:32Z [998,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:32Z [998,314ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[998.458s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..dfa6bb881cd4550fd2d0c0b0c63f47f7c6d6c3e1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017260-f000000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version 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No target object ever enters any camera during manipulation. 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At f4091 the right hand still holds trash_can_116 and the left hand is free, so the correct next action \u2014 fetch can_113 \u2014 belongs to the left arm. 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"accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4047564088298992, -0.34857202240319346, 0.03293978141250769], [0.2475373019711278, 0.352126701338401, 0.412684300595169]]} +{"step": 284, "event": "joint_tracking", "max_error_rad": 0.002381443977355957} +{"step": 284, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.496131181716919, 5.0631866455078125, 0.588042676448822], "desired_xyz": [2.496039628982544, 5.063179969787598, 0.588056182861328], "error_m": 9.278411281414298e-05} +{"step": 284, "event": "eef_target", "arm": "left", "body_xyz": [0.6638006597483488, 0.24334814036133295, 0.6194155032587291], "world_xyz": [2.496039628982544, 5.063179969787598, 0.6255561828613276], "held": {"left": null, "right": "trash_can_116"}} +{"step": 284, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 284, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.40475521263550207, -0.34853479934930476, 0.033105999896482566], [0.2475270561300741, 0.352119681795329, 0.41256347079387495]]} +{"step": 304, "event": "joint_tracking", "max_error_rad": 0.002450883388519287} +{"step": 304, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.4961752891540527, 5.063187122344971, 0.6255395412445068], "desired_xyz": [2.496039628982544, 5.063179969787598, 0.6255561828613276], "error_m": 0.00013686411005511687} +{"step": 304, "event": "eef_target", "arm": "left", "body_xyz": [0.6637854421708898, 0.24335659931991396, 0.6569799419563402], "world_xyz": [2.496039628982544, 5.063179969787598, 0.6630561828613278], "held": {"left": null, "right": "trash_can_116"}} +{"step": 304, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 304, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.40474424132148606, -0.3484903696118282, 0.03326676736086483], [0.2475050596330071, 0.35209782893271463, 0.412446483138178]]} +{"step": 324, "event": "joint_tracking", "max_error_rad": 0.002607583999633789} +{"step": 324, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.4961957931518555, 5.063188076019287, 0.6630281805992126], "desired_xyz": [2.496039628982544, 5.063179969787598, 0.6630561828613278], "error_m": 0.00015886184391643277} +{"step": 324, "event": "eef_target", "arm": "left", "body_xyz": [0.6637442352616202, 0.24340685498713516, 0.6945557763895213], "world_xyz": [2.496039628982544, 5.063179969787598, 0.7005561828613284], "held": {"left": null, "right": "trash_can_116"}} +{"step": 324, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 324, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.404730469676362, -0.34843655415884683, 0.033457093669512925], [0.24747755001474084, 0.35207048008594166, 0.4123080659494115]]} +{"step": 344, "event": "joint_tracking", "max_error_rad": 0.0020834803581237793} +{"step": 344, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.496225357055664, 5.063199043273926, 0.7005323767662048], "desired_xyz": [2.496039628982544, 5.063179969787598, 0.7005561828613284], "error_m": 0.00018821648490674662} +{"step": 344, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010080.hdf5", "frame": 5225, "arm": "left", "kind": "can"} +{"step": 344, "event": "stage", "name": "navigate_to_can", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[2.496225357055664, 5.063199043273926, 0.7005323767662048], [-0.7747637629508972, 0.6282709240913391, 0.013218131847679615, -0.0695851594209671]], "right": [[3.0543622970581055, 5.097084045410156, 0.3855067491531372], [-0.7383599877357483, 0.6560534238815308, 0.07122492045164108, -0.13908833265304565]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [2.932610034942627, 5.075839042663574, 0.29414886236190796], "can__of__soda.n.01_1": [2.9268155097961426, 4.985843181610107, 0.22498860955238342], "can__of__soda.n.01_3": [4.070607662200928, 6.82243013381958, 0.06461408734321594], "ashcan.n.01_1": [2.940385580062866, 5.025266647338867, 0.3111655116081238]}, "robot_pose": [[2.753255844116211, 4.404921054840088, 0.005718410015106201], [-0.0004109954461455345, -0.0012492238311097026, 0.7134962677955627, 0.7006579637527466]]}} +{"step": 344, "event": "approach_candidates", "key": "pick:can_of_soda_113", "target": [4.070607662200928, 6.82243013381958], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 344, "event": "primitive_failure", "operation": "pick:can_of_soda_113", "reason": "no_traversable_route", "attempt": 3} +{"step": 344, "event": "temporarily_blocked_target", "operation": "pick:can_of_soda_113"} +{"step": 344, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_1": true, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[2.496225357055664, 5.063199043273926, 0.7005323767662048], [-0.7747637629508972, 0.6282709240913391, 0.013218131847679615, -0.0695851594209671]], "right": [[3.0543622970581055, 5.097084045410156, 0.3855067491531372], [-0.7383599877357483, 0.6560534238815308, 0.07122492045164108, -0.13908833265304565]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [2.932610034942627, 5.075839042663574, 0.29414886236190796], "can__of__soda.n.01_1": [2.9268155097961426, 4.985843181610107, 0.22498860955238342], "can__of__soda.n.01_3": [4.070607662200928, 6.82243013381958, 0.06461408734321594], "ashcan.n.01_1": [2.940385580062866, 5.025266647338867, 0.3111655116081238]}, "robot_pose": [[2.753255844116211, 4.404921054840088, 0.005718410015106201], [-0.0004109954461455345, -0.0012492238311097026, 0.7134962677955627, 0.7006579637527466]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..2714dd45758b7579b156af17c0c10a824c87e230 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/352 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[6.428s] [ext: omni.physics.tensors-107.3.26] startup +[6.432s] [ext: omni.warp.core-1.8.2] startup +[6.541s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[6.543s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:51:44Z [4,471ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[6.549s] [ext: omni.physx.tensors-107.3.26] startup +[6.555s] [ext: isaacsim.core.utils-3.5.1] startup +[6.558s] [ext: omni.graph.image.core-0.6.1] startup +[6.559s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.636s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.638s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.640s] [ext: isaacsim.core.prims-0.6.1] startup +[6.655s] [ext: omni.syntheticdata-0.6.13] startup +[6.666s] [ext: isaacsim.core.api-4.8.0] startup +[6.678s] [ext: omni.videoencoding-0.1.2] startup +[6.681s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.682s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.685s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.686s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.686s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.689s] [ext: omni.graph.nodes-1.170.10] startup +[6.697s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.701s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.703s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:51:44Z [4,626ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[6.704s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[6.713s] [ext: omni.warp-1.8.2] startup +[6.720s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.737s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.741s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[6.750s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.807s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:51:44Z [4,749ms] [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 +2026-09-19T15:51:44Z [4,853ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:51:44Z [4,853ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:51:44Z [4,853ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.933s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[6.937s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.944s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.951s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:51:44Z [4,875ms] [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. +[6.954s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.961s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[6.980s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[6.997s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.002s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[7.005s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:51:44Z [4,933ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[7.023s] [ext: isaacsim.cortex.framework-1.0.12] startup +[7.025s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:51:44Z [4,958ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[7.040s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:51:44Z [4,974ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[7.055s] [ext: omni.anim.curve.core-1.3.1] startup +[7.093s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:51:44Z [5,021ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:51:44Z [5,022ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:51:44Z [5,077ms] [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. +[7.158s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.244s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:51:45Z [5,170ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[7.256s] [ext: omni.kit.selection-0.1.6] startup +[7.271s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.339s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:51:45Z [5,266ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,267ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,293ms] [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. +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +2026-09-19T15:51:45Z [5,306ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,307ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,307ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,308ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,308ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,308ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:51:45Z [5,309ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[7.387s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.402s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.417s] [ext: isaacsim.asset.browser-1.3.23] startup +[7.426s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:51:45Z [5,350ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[7.431s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.436s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:51:45Z [5,361ms] [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. +2026-09-19T15:51:45Z [5,361ms] [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. +2026-09-19T15:51:45Z [5,363ms] [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. +2026-09-19T15:51:45Z [5,363ms] [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. +2026-09-19T15:51:45Z [5,363ms] [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. +2026-09-19T15:51:45Z [5,363ms] [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. +2026-09-19T15:51:45Z [5,365ms] [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. +2026-09-19T15:51:45Z [5,366ms] [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. +2026-09-19T15:51:45Z [5,366ms] [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. +2026-09-19T15:51:45Z [5,366ms] [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. +2026-09-19T15:51:45Z [5,366ms] [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. +2026-09-19T15:51:45Z [5,366ms] [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. +2026-09-19T15:51:45Z [5,367ms] [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. +2026-09-19T15:51:45Z [5,367ms] [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. +2026-09-19T15:51:45Z [5,367ms] [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. +2026-09-19T15:51:45Z [5,367ms] [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. +[7.445s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:51:45Z [5,370ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[7.448s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:51:45Z [5,372ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:51:45Z [5,372ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[7.450s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:51:45Z [5,373ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[7.451s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:51:45Z [5,375ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[7.453s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[7.460s] [ext: omni.isaac.utils-2.0.6] startup +[7.462s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.479s] [ext: isaacsim.app.about-2.0.11] startup +[7.483s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:51:45Z [5,406ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[7.484s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[7.485s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:51:45Z [5,411ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:51:45Z [5,411ms] [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. +2026-09-19T15:51:45Z [5,412ms] [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. +2026-09-19T15:51:45Z [5,413ms] [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. +2026-09-19T15:51:45Z [5,413ms] [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. +2026-09-19T15:51:45Z [5,414ms] [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. +2026-09-19T15:51:45Z [5,414ms] [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. +2026-09-19T15:51:45Z [5,414ms] [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. +2026-09-19T15:51:45Z [5,414ms] [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. +2026-09-19T15:51:45Z [5,416ms] [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. +2026-09-19T15:51:45Z [5,416ms] [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. +2026-09-19T15:51:45Z [5,416ms] [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. +[7.494s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:51:45Z [5,428ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:51:45Z [5,429ms] [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. +[7.507s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.517s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:51:45Z [5,440ms] [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. +[7.519s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.540s] [ext: omni.kit.property.audio-1.0.16] startup +[7.543s] [ext: omni.kit.property.camera-1.0.10] startup +[7.546s] [ext: omni.sensors.net-1.0.0] startup +[7.552s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.557s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.559s] [ext: omni.kit.property.light-1.0.12] startup +[7.630s] [ext: omni.kit.property.material-1.11.9] startup +[7.637s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.640s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.642s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.648s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.655s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.660s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.665s] [ext: omni.kit.property.render-1.2.1] startup +[7.667s] [ext: omni.kit.property.transform-1.5.13] startup +[7.670s] [ext: isaacsim.gui.property-1.1.3] startup +[7.672s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.679s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.688s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.698s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.705s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.708s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:51:45Z [5,631ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:51:45Z [5,631ms] [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. +[7.709s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:51:45Z [5,632ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:51:45Z [5,632ms] [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. +[7.710s] [ext: isaacsim.replicator.writers-1.0.17] startup +[7.723s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:51:45Z [5,647ms] [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. +2026-09-19T15:51:45Z [5,647ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:51:45Z [5,648ms] [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. +2026-09-19T15:51:45Z [5,648ms] [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. +2026-09-19T15:51:45Z [5,648ms] [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. +2026-09-19T15:51:45Z [5,649ms] [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. +2026-09-19T15:51:45Z [5,649ms] [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. +2026-09-19T15:51:45Z [5,649ms] [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. +2026-09-19T15:51:45Z [5,650ms] [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. +2026-09-19T15:51:45Z [5,651ms] [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. +2026-09-19T15:51:45Z [5,651ms] [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. +[7.729s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:51:45Z [5,654ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[7.732s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.743s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.746s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[7.749s] [ext: isaacsim.replicator.examples-1.3.6] startup +[7.751s] [ext: omni.ocio-0.1.1] startup +[7.754s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.766s] [ext: omni.kit.window.console-1.1.4] startup +[7.774s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.778s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:51:45Z [5,701ms] [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. +[7.779s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.786s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.793s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.804s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:51:45Z [5,727ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[7.805s] [ext: semantics.schema.editor-2.0.2] startup +[7.810s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.812s] [ext: semantics.schema.property-2.0.1] startup +[7.814s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:51:45Z [5,737ms] [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. +2026-09-19T15:51:45Z [5,737ms] [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. +2026-09-19T15:51:45Z [5,739ms] [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. +[7.817s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:51:45Z [5,741ms] [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. +2026-09-19T15:51:45Z [5,741ms] [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. +2026-09-19T15:51:45Z [5,741ms] [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. +2026-09-19T15:51:45Z [5,741ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[7.819s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[7.838s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.850s] [ext: omni.kit.menu.common-2.0.1] startup +[7.854s] [ext: isaacsim.exp.base-5.1.0] startup +[7.855s] [ext: omnigibson_5_1_0-3.9.2] startup +[7.856s] Simulation App Starting +2026-09-19T15:51:45Z [5,924ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T15:51:45Z [5,950ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.063s] app ready +[9.964s] Simulation App Startup Complete +[10.348s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:51:48Z [8,374ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:51:49Z [9,281ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:17.473] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:17.703] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:52:52Z [72,493ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:52:55Z [75,269ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T15:52:55Z [75,527ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,528ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,645ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,646ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,677ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,814ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:55Z [75,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,471ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,515ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,515ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,519ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,519ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,540ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,540ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,682ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,682ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,682ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,683ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,972ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,972ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,994ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,995ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [76,995ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:52:56Z [77,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:52:56Z [77,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:27.571] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:27.624] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:53:07Z [87,376ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:39.046] [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. +[00:01:39.048] [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. +2026-09-19T15:53:10Z [90,888ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:53:10Z [90,889ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:53:10Z [90,890ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:53:10Z [90,891ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:53:13Z [93,622ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:53:18Z [98,851ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +2026-09-19T15:53:24Z [104,527ms] [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 +2026-09-19T15:53:28Z [109,039ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-19T15:56:58Z [318,812ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:56:58Z [318,812ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:56:58Z [318,812ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[320.992s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..0c445bb0d4e57508862b496257da9692439e7b49 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb3030dbd7275484519132979db891433e7e716ab17d42200cbcf7c054e3833f +size 480 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a43da885b8b69a6723b04f9d8d01b6a2091dfba2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ed31d2d9066524febfd1973242094aca9156cec8908c769f57617a4353f0212 +size 5636710 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..62f85bc6c9f4828572420824638ed58dd2e5478c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f5c7a769f1f2806859e9e2a69f2b52684a8f8528adefb469505af6fd2aff861 +size 583511 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/case.json new file mode 100644 index 0000000000000000000000000000000000000000..5e12e67eb48da14eed1c1c22306743a7ac7dc6a8 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017280-f004091", + "kind": "vla", + "episode_id": "00017280", + "instance_id": 728, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017280.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017280.json", + "frame": 4091, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 4091, + 4295 + ], + "reason": "Frame of plan divergence: after the two Inside flips completed, the right arm began lowering the trash can toward the floor rather than the robot going for the still-untouched can_of_soda_113 (grasp_history never records it). At f4091 the right hand still holds trash_can_116 and the left hand is free, so the correct next action \u2014 fetch can_113 \u2014 belongs to the left arm. Execution of the place-on itself was clean (trash landed upright at f4295), but the ordering foreclosed a subtask still pending." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..6014a5d7f75401a83400df5eeb9a13098032bc90 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004091/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017280-f004091", + "episode_id": "00017280", + "instance_id": 728, + "start_type": "judgement_seed", + "source_frame": 4091, + "attempt": "attempt_001", + "completed_at": "2026-09-19T15:57:21+00:00", + "success": false, + "status": "error", + "error": 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+{"step": 1218, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010050.hdf5", "frame": 1308, "arm": "right", "kind": "bin"} +{"step": 1218, "event": "stage", "name": "navigate_to_bin", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[2.4820923805236816, 4.485378265380859, 0.5236155390739441], [-0.8970149159431458, 0.4004327952861786, 0.13415735960006714, -0.13045953214168549]], "right": [[2.7792418003082275, 5.0126633644104, 0.5837657451629639], [-0.7995976209640503, 0.5542480945587158, 0.13592006266117096, 0.1870250403881073]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [2.7107350826263428, 4.982536792755127, 0.03930508345365524], "can__of__soda.n.01_3": 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"rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1248, "event": "joint_tracking", "max_error_rad": 3.993511199951172e-06} +{"step": 1248, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.4828014373779297, 4.4610276222229, 0.4894511103630066], "desired_xyz": [2.482806032177151, 4.461011694814367, 0.48942468359411173], "error_m": 3.119565092596162e-05} +{"step": 1248, "event": "eef_target", "arm": "left", "body_xyz": [0.2999994520480666, 0.21999928772035982, 0.4500003257875619], "world_xyz": [2.4835196838306195, 4.436645124247875, 0.4552338281142793], "held": {"left": null, "right": null}} +{"step": 1248, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1248, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1278, "event": "joint_tracking", "max_error_rad": 3.6954879760742188e-06} +{"step": 1278, "event": "eef_tracking", "arm": "left", "actual_xyz": [2.483516216278076, 4.436661720275879, 0.45525965094566345], "desired_xyz": [2.4835196838306195, 4.436645124247875, 0.4552338281142793], "error_m": 3.08912720174132e-05} +{"step": 1278, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": true} +{"step": 1278, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": true} +{"step": 1278, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": true} +{"step": 1278, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 1278, "event": "approach_candidates", "key": "pick_bin", "target": [2.7171084880828857, 4.96489143371582], "evaluated": 46, "traversable": 0, "previously_tried": 1, "chosen": null} +{"step": 1278, "event": "primitive_failure", "operation": "pick_bin", "reason": "no_traversable_route", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..68db6bd277d9b921e8aa35c2a11bca809274b2c7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1278 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 258, in pick\n self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 168, in approach\n raise RecoveryFailure(\"no_traversable_route\")\ntask01_recovery.control.RecoveryFailure: no_traversable_route\n", + "steps": 1278, + "final_task": { + "inside": { + "can__of__soda.n.01_2": true, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": true + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 2.483516216278076, + 4.436661720275879, + 0.45525965094566345 + ], + [ + -0.8970047235488892, + 0.4004531502723694, + 0.13407287001609802, + -0.13055379688739777 + ] + ], + "right": [ + [ + 2.824765205383301, + 4.971350193023682, + 0.5186613202095032 + ], + [ + -0.8019163608551025, + 0.5624088048934937, + 0.09235309809446335, + 0.17915759980678558 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 2.711125612258911, + 4.982577800750732, + 0.039331547915935516 + ], + "can__of__soda.n.01_3": [ + 4.070578575134277, + 6.822450160980225, + 0.06461405754089355 + ], + "can__of__soda.n.01_1": [ + 2.7216579914093018, + 4.873837471008301, + 0.07286016643047333 + ], + "ashcan.n.01_1": [ + 2.718050241470337, + 4.964994430541992, + 0.09298758953809738 + ] + }, + "robot_pose": [ + [ + 2.8018112182617188, + 4.243935585021973, + 0.005285248160362244 + ], + [ + -7.110089063644409e-05, + 3.8992511690594256e-05, + 0.831756591796875, + 0.5551406145095825 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 611 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6338982385d53d65b46fb8f7253a59bc46d3816e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ea2a3518a47bf3ee1a7f7956c06a6cc4b17005001b6ece1e826f20efbc7a554 +size 425731 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..a07e615c5ee89597e079f812c8428981faefcb21 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/run.log @@ -0,0 +1,636 @@ +RECOVERY building environment +[00:00:03.466] [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_111423.log +[0.060s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.109s] [ext: omni.metrics.core-0.0.3] startup +[0.109s] [ext: omni.client.lib-1.1.0] startup +[0.117s] [ext: omni.blobkey-1.1.2] startup +[0.117s] [ext: omni.stats-1.0.1] startup +[0.118s] [ext: omni.datastore-0.0.0] startup +[0.122s] [ext: omni.client-1.3.0] startup +[0.124s] [ext: omni.ujitso.default-1.0.0] startup +[0.125s] [ext: omni.hsscclient-1.1.2] startup +[0.164s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.166s] [ext: omni.assets.plugins-0.0.0] startup +[0.166s] [ext: omni.gpu_foundation-0.0.0] startup +[0.171s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T03:14:23Z [132ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:23Z [132ms] [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) +[0.171s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T03:14:23Z [165ms] [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: 46942 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T03:14:23Z [707ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.874s] [ext: omni.materialx.libs-1.0.7] startup +[0.880s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.880s] [ext: omni.kit.test-2.0.1] startup +[0.895s] [ext: omni.usd.config-1.0.6] startup +[0.896s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.897s] [ext: omni.usd.libs-1.0.1] startup +[0.990s] [ext: omni.kit.telemetry-0.5.2] startup +[1.013s] [ext: omni.mdl-56.0.3] startup +[1.038s] [ext: omni.iray.libs-0.0.0] startup +[1.044s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.047s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.151s] [ext: omni.kit.pipapi-0.0.0] startup +[1.151s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T03:14:24Z [1,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.153s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T03:14:24Z [1,126ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,126ms] [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) +2026-09-21T03:14:24Z [1,132ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,132ms] [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) +[1.172s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.173s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T03:14:24Z [1,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,136ms] [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) +2026-09-21T03:14:24Z [1,137ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,137ms] [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) +2026-09-21T03:14:24Z [1,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:14:24Z [1,138ms] [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) +[1.222s] [ext: omni.ui-2.27.1] startup +[1.228s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.229s] [ext: carb.audio-0.1.0] startup +[1.232s] [ext: omni.uiaudio-1.0.0] startup +[1.233s] [ext: omni.kit.uiapp-0.0.0] startup +[1.233s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.235s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.239s] [ext: omni.usd_resolver-1.0.0] startup +[1.243s] [ext: omni.usd.core-1.5.3] startup +[1.245s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.263s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.282s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.285s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.287s] [ext: omni.kit.actions.core-1.0.0] startup +[1.288s] [ext: omni.activity.core-1.0.3] startup +[1.289s] [ext: omni.kit.commands-1.4.10] startup +[1.292s] [ext: usdrt.scenegraph-7.6.1] startup +[1.317s] [ext: omni.resourcemonitor-107.0.1] startup +[1.318s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.319s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.326s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.326s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.329s] [ext: omni.graph.exec-0.9.6] startup +[1.329s] [ext: omni.timeline-1.0.14] startup +[1.331s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.332s] [ext: omni.kit.exec.core-0.13.4] startup +[1.333s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.338s] [ext: omni.usd-1.13.10] startup +[1.358s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.368s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.368s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.377s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.387s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.393s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.393s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.394s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.417s] [ext: omni.inspect-1.0.2] startup +[1.418s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.420s] [ext: omni.graph.core-2.184.5] startup +[1.422s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.423s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.423s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.429s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.432s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.432s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.435s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.436s] [ext: omni.kit.clipboard-1.0.5] startup +[1.436s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.444s] [ext: omni.ui.scene-1.11.5] startup +[1.447s] [ext: omni.index.libs-380600.8087.0] startup +[1.447s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.452s] [ext: omni.index-1.0.1] startup +[1.452s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.453s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.455s] [ext: omni.volume-0.5.2] startup +[1.456s] [ext: omni.ujitso.client-0.0.0] startup +[1.457s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.458s] [ext: omni.kit.menu.core-1.1.2] startup +[1.458s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T03:14:24Z [1,434ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.488s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.489s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.492s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.493s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.497s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.505s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.511s] [ext: omni.kit.context_menu-1.8.6] startup +[1.512s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.515s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.516s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.517s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.523s] [ext: omni.kit.material.library-2.0.7] startup +[1.527s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.528s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.530s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.543s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.544s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.545s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.545s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.546s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.547s] [ext: omni.kit.browser.core-2.3.13] startup +[1.550s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.550s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.557s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.561s] [ext: omni.kit.window.file-2.0.5] startup +[1.564s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.564s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.565s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.566s] [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 +[1.584s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.592s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.593s] [ext: omni.graph.action_core-1.1.7] startup +[1.594s] [ext: omni.graph-1.141.2] startup +[1.624s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.625s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.629s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.635s] [ext: omni.kit.window.stage-2.6.1] startup +[1.641s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.643s] [ext: omni.graph.action-1.130.0] startup +[1.644s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.648s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.656s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.657s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.660s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.667s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.671s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.672s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.673s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.684s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.686s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.687s] [ext: omni.kit.window.property-1.12.1] startup +[1.690s] [ext: omni.ui_query-1.1.8] startup +[1.690s] [ext: omni.kit.property.usd-4.5.12] startup +[1.699s] [ext: omni.kit.menu.create-2.0.1] startup +[1.701s] [ext: isaacsim.core.version-2.0.6] startup +[1.703s] [ext: omni.kit.ui_test-1.3.7] startup +[1.706s] [ext: omni.kit.scripting-107.3.2] startup +[1.712s] [ext: omni.convexdecomposition-107.3.26] startup +[1.715s] [ext: isaacsim.storage.native-1.5.1] startup +[1.716s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.724s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.728s] [ext: omni.kvdb-107.3.26] startup +[1.729s] [ext: omni.usdphysics-107.3.26] startup +[1.731s] [ext: omni.physx.foundation-107.3.26] startup +[1.733s] [ext: omni.localcache-107.3.26] startup +[1.734s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.740s] [ext: omni.physx.cooking-107.3.26] startup +[1.743s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.745s] [ext: omni.physx-107.3.26] startup +[1.753s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.758s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.759s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.765s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.772s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.774s] [ext: isaacsim.gui.components-1.2.1] startup +[1.777s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.782s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.846s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.854s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.858s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.866s] [ext: omni.fabric.commands-1.1.6] startup +[1.869s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.872s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.874s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.885s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.886s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.887s] [ext: omni.debugdraw-0.1.4] startup +[1.891s] [ext: omni.physics-107.3.26] startup +[1.894s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.912s] [ext: omni.physx.commands-107.3.26] startup +[1.916s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.918s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.921s] [ext: omni.physx.ui-107.3.26] startup +[1.944s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.953s] [ext: omni.physx.supportui-107.3.26] startup +[1.968s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.971s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.973s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.978s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T03:14:25Z [1,942ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.982s] [ext: omni.physics.tensors-107.3.26] startup +[1.986s] [ext: omni.warp.core-1.8.2] startup +[2.115s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.117s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:14:25Z [2,084ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.123s] [ext: omni.physx.tensors-107.3.26] startup +[2.128s] [ext: isaacsim.core.utils-3.5.1] startup +[2.132s] [ext: omni.graph.image.core-0.6.1] startup +[2.134s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.215s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.216s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.219s] [ext: isaacsim.core.prims-0.6.1] startup +[2.236s] [ext: omni.syntheticdata-0.6.13] startup +[2.248s] [ext: isaacsim.core.api-4.8.0] startup +[2.269s] [ext: omni.videoencoding-0.1.2] startup +[2.272s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.274s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.277s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.278s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.279s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.282s] [ext: omni.graph.nodes-1.170.10] startup +[2.290s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.294s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.298s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:14:25Z [2,260ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.299s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.306s] [ext: omni.warp-1.8.2] startup +[2.312s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.324s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.326s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.338s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.395s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:14:25Z [2,376ms] [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 +2026-09-21T03:14:25Z [2,505ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:14:25Z [2,505ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:14:25Z [2,505ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.548s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.552s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.558s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.575s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:14:25Z [2,536ms] [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. +[2.577s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.589s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.684s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.708s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.730s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.746s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:14:25Z [2,711ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.771s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.785s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:14:25Z [2,773ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.812s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:14:25Z [2,775ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.818s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.895s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:14:26Z [2,857ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:14:26Z [2,857ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:14:26Z [2,870ms] [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. +[2.910s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.923s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:14:26Z [2,884ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.926s] [ext: omni.kit.selection-0.1.6] startup +[2.928s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.934s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:14:26Z [2,895ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,896ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,896ms] [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. +2026-09-21T03:14:26Z [2,896ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,896ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,896ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,896ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,897ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,897ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:14:26Z [2,897ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.936s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.946s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.957s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.965s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:14:26Z [2,928ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.967s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.970s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:14:26Z [2,933ms] [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. +2026-09-21T03:14:26Z [2,933ms] [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. +2026-09-21T03:14:26Z [2,933ms] [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. +2026-09-21T03:14:26Z [2,934ms] [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. +2026-09-21T03:14:26Z [2,935ms] [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. +2026-09-21T03:14:26Z [2,935ms] [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. +2026-09-21T03:14:26Z [2,935ms] [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. +2026-09-21T03:14:26Z [2,936ms] [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. +2026-09-21T03:14:26Z [2,937ms] [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. +2026-09-21T03:14:26Z [2,937ms] [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. +2026-09-21T03:14:26Z [2,938ms] [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. +2026-09-21T03:14:26Z [2,938ms] [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. +2026-09-21T03:14:26Z [2,938ms] [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. +2026-09-21T03:14:26Z [2,938ms] [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. +2026-09-21T03:14:26Z [2,938ms] [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. +2026-09-21T03:14:26Z [2,938ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +[2.978s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:14:26Z [2,940ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.980s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:14:26Z [2,943ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:14:26Z [2,943ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.982s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:14:26Z [2,944ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.983s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:14:26Z [2,945ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.985s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.989s] [ext: omni.isaac.utils-2.0.6] startup +[2.992s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.001s] [ext: isaacsim.app.about-2.0.11] startup +[3.004s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:14:26Z [2,966ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.005s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.007s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:14:26Z [2,969ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:14:26Z [2,969ms] [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. +2026-09-21T03:14:26Z [2,970ms] [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. +2026-09-21T03:14:26Z [2,970ms] [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. +2026-09-21T03:14:26Z [2,970ms] [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. +2026-09-21T03:14:26Z [2,971ms] [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. +2026-09-21T03:14:26Z [2,972ms] [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. +2026-09-21T03:14:26Z [2,972ms] [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. +2026-09-21T03:14:26Z [2,972ms] [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. +2026-09-21T03:14:26Z [2,973ms] [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. +2026-09-21T03:14:26Z [2,973ms] [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. +2026-09-21T03:14:26Z [2,977ms] [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. +[3.017s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:14:26Z [2,982ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:14:26Z [2,983ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly. +[3.023s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.033s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:14:26Z [2,995ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly. +[3.034s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.044s] [ext: omni.kit.property.audio-1.0.16] startup +[3.047s] [ext: omni.kit.property.camera-1.0.10] startup +[3.050s] [ext: omni.sensors.net-1.0.0] startup +[3.053s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.057s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.062s] [ext: omni.kit.property.light-1.0.12] startup +[3.121s] [ext: omni.kit.property.material-1.11.9] startup +[3.130s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.132s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.135s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.143s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.154s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.161s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.165s] [ext: omni.kit.property.render-1.2.1] startup +[3.167s] [ext: omni.kit.property.transform-1.5.13] startup +[3.173s] [ext: isaacsim.gui.property-1.1.3] startup +[3.175s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.186s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.195s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.206s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.211s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.217s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:14:26Z [3,180ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:14:26Z [3,180ms] [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. +[3.219s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:14:26Z [3,181ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:14:26Z [3,181ms] [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. +[3.220s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.241s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:14:26Z [3,205ms] [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. +2026-09-21T03:14:26Z [3,206ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:14:26Z [3,206ms] [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. +2026-09-21T03:14:26Z [3,206ms] [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. +2026-09-21T03:14:26Z [3,206ms] [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. +2026-09-21T03:14:26Z [3,206ms] [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. +2026-09-21T03:14:26Z [3,206ms] [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. +2026-09-21T03:14:26Z [3,207ms] [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. +2026-09-21T03:14:26Z [3,208ms] [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. +2026-09-21T03:14:26Z [3,208ms] [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. +2026-09-21T03:14:26Z [3,208ms] [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. +[3.249s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:14:26Z [3,213ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.253s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.272s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.276s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.279s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.282s] [ext: omni.ocio-0.1.1] startup +[3.286s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.302s] [ext: omni.kit.window.console-1.1.4] startup +[3.310s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.313s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:14:26Z [3,275ms] [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. +[3.314s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.320s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.326s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.336s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:14:26Z [3,298ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.337s] [ext: semantics.schema.editor-2.0.2] startup +[3.342s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.344s] [ext: semantics.schema.property-2.0.1] startup +[3.347s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:14:26Z [3,309ms] [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. +2026-09-21T03:14:26Z [3,309ms] [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. +2026-09-21T03:14:26Z [3,310ms] [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. +[3.349s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:14:26Z [3,312ms] [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. +2026-09-21T03:14:26Z [3,312ms] [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. +2026-09-21T03:14:26Z [3,313ms] [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. +2026-09-21T03:14:26Z [3,313ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.352s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.366s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.372s] [ext: omni.kit.menu.common-2.0.1] startup +[3.375s] [ext: isaacsim.exp.base-5.1.0] startup +[3.376s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.377s] Simulation App Starting +2026-09-21T03:14:26Z [3,657ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.716s] app ready +[5.989s] Simulation App Startup Complete +[6.304s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:14:29Z [6,449ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:14:30Z [7,288ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.845] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.102] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:15:31Z [68,126ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:15:33Z [70,592ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,592ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,593ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,790ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:33Z [70,790ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,836ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,837ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,837ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,837ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,837ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,838ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,888ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,888ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,888ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,889ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,937ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,937ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,978ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,979ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:34Z [70,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,815ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,864ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,864ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,869ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,869ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,875ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,875ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,880ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,880ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [71,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,135ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,135ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,482ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,483ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,483ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,483ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,507ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,602ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:15:35Z [72,602ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:15:36Z [73,615ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:17.455] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:17.496] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:15:46Z [83,146ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:27.511] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:27.515] [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. +2026-09-21T03:15:47Z [83,999ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:15:47Z [84,001ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:15:47Z [84,002ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:15:47Z [84,003ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:15:50Z [87,166ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:16:04Z [101,577ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 480 bin_grasp_micro_search {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 600 bin_grasp_micro_search {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 720 bin_grasp_micro_search {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 840 bin_grasp_micro_search {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 960 recover_grasp_from_existing_contact {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 1080 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 1200 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 258, in pick + self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 168, in approach + raise RecoveryFailure("no_traversable_route") +task01_recovery.control.RecoveryFailure: no_traversable_route + +2026-09-21T03:24:21Z [598,276ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:24:21Z [598,276ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:24:21Z [598,276ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[598.427s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..a68c48ca9c95ec47287bf0d357c3166a8fa86ba6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f7ba94adc47ff41c0f16a7529421a1f7d10fab92647dcb621428013c92219c4 +size 1406 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..969112979358c82715bb58a99ed8b22b8e996c0b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf876c8ae42b935cd4bd4e8d7a1a9a5107755ce9ddc9349402be95c8a6c0356 +size 19941063 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f5c703cd2a6eef55768e56bae198fbc9dd7cf6e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e9609063988c64a697d415d231efc79e7f399d481aaac55c4dcea0ef4941c6d +size 2141529 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/case.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5f4a3a15559460b6e2076d2db84492128724f9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017280-f004296", + "kind": "vla", + "episode_id": "00017280", + "instance_id": 728, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017280.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017280.json", + "frame": 4296, + "start_type": "judgement_seed", + "chunk_index": 6, + "chunk_span": [ + 4296, + 10535 + ], + "reason": "First frame after the trash can settled on the floor; both grippers empty per grasp_history (no events after f4289) and the sweep at f4500/5500/6500/7500/8500/9500/10400 shows the robot hovering in place with both hands empty and never leaving to approach can_113. Card demos use the right arm for can picks and both hands are free at f4296, so right is the natural resume." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..2aba522c0acb35d11c62b9aef3daf4fcf66c4e71 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017280-f004296/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017280-f004296", + "episode_id": "00017280", + "instance_id": 728, + "start_type": "judgement_seed", + "source_frame": 4296, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:25:30+00:00", + "success": false, + "status": "error", + "error": "no_traversable_route", + "teacher_steps": 1278, + "dataset_frames": 1278, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00017280-f004296/attempt_001/dataset", + "video": "runs/vla-episode_00017280-f004296/attempt_001/video.mp4", + "initial_inside": 2, + "final_inside": 2, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 60 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cf4faa528a7e0b375b76552eaa6791bed2e3f3c3 --- /dev/null +++ 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Frame 5326 is the release point where IsGrasping(left, can) flipped false\u2014the last moment before the failed placement became irreversible. A corrected release trajectory from this frame could still succeed. The alternative seed at f5293 (when Inside first fired) is mid-release and less clean as a restart boundary." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d8c6b8503e675542e188d32a6bb5459e2715041 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/events.jsonl @@ -0,0 +1,136 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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"trash_can_116"}} +{"step": 461, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 461, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.40766479736217537, -0.3506692606849777, 0.035373668907179], [0.25156031284170266, 0.3566908026623809, 0.4109048648812424]]} +{"step": 481, "event": "joint_tracking", "max_error_rad": 0.002263367176055908} +{"step": 481, "event": "eef_tracking", "arm": "left", "actual_xyz": [5.532388210296631, 6.003702640533447, 1.1833773851394653], "desired_xyz": [5.532355785369873, 6.0036749839782715, 1.1834794521331782], "error_m": 0.00011060710702761682} +{"step": 481, "event": "human_reference", "source": 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[0]}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[5.532388210296631, 6.003702640533447, 1.1833773851394653], [-0.01413056068122387, 0.8719065189361572, -0.07596366107463837, 0.48353782296180725]], "right": [[5.51275110244751, 5.369410514831543, 0.50844806432724], [-0.10283339768648148, 0.9924533367156982, 0.008983058854937553, 0.06618893146514893]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [2.8923308849334717, 5.175386905670166, 0.07145721465349197], "can__of__soda.n.01_1": [3.0908637046813965, 5.333323955535889, 0.07145718485116959], "can__of__soda.n.01_3": [5.49658727645874, 5.470630645751953, 0.3274213373661041], "ashcan.n.01_1": [5.514597415924072, 5.465240478515625, 0.40061286091804504]}, "robot_pose": [[4.939994812011719, 5.696987628936768, 0.00528523325920105], [-7.78879621066153e-06, 8.070096373558044e-05, 0.01362345926463604, 0.9999071359634399]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..b6561bf3dc0216eb83f709da972b95445f0f63f0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/489 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.248s] [ext: omni.physics.tensors-107.3.26] startup +[2.251s] [ext: omni.warp.core-1.8.2] startup +[2.365s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.368s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:57:09Z [2,271ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.374s] [ext: omni.physx.tensors-107.3.26] startup +[2.380s] [ext: isaacsim.core.utils-3.5.1] startup +[2.384s] [ext: omni.graph.image.core-0.6.1] startup +[2.386s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.464s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.466s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.469s] [ext: isaacsim.core.prims-0.6.1] startup +[2.485s] [ext: omni.syntheticdata-0.6.13] startup +[2.496s] [ext: isaacsim.core.api-4.8.0] startup +[2.515s] [ext: omni.videoencoding-0.1.2] startup +[2.518s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.520s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.524s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.525s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.525s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.529s] [ext: omni.graph.nodes-1.170.10] startup +[2.539s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.543s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.547s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:57:09Z [2,445ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.548s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.555s] [ext: omni.warp-1.8.2] startup +[2.565s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.587s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.596s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.613s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.673s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:57:09Z [2,583ms] [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 +2026-09-19T15:57:09Z [2,693ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:57:09Z [2,693ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:57:09Z [2,693ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.799s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.802s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.808s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.824s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:57:09Z [2,723ms] [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. +[2.828s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.846s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.973s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.991s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.032s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.037s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:57:09Z [2,940ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.088s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.101s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:57:09Z [3,005ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.109s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:57:09Z [3,008ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.111s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.232s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:57:10Z [3,130ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:57:10Z [3,131ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:57:10Z [3,146ms] [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. +[3.249s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.259s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:57:10Z [3,158ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.261s] [ext: omni.kit.selection-0.1.6] startup +[3.263s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.271s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:57:10Z [3,169ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,169ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,170ms] [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. +2026-09-19T15:57:10Z [3,173ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,173ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,174ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,174ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,174ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,174ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:57:10Z [3,174ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.277s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.298s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.304s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.311s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:57:10Z [3,211ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.314s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.326s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:57:10Z [3,226ms] [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. +2026-09-19T15:57:10Z [3,226ms] [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. +2026-09-19T15:57:10Z [3,228ms] [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. +2026-09-19T15:57:10Z [3,228ms] [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. +2026-09-19T15:57:10Z [3,228ms] [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. +2026-09-19T15:57:10Z [3,228ms] [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. +2026-09-19T15:57:10Z [3,229ms] [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. +2026-09-19T15:57:10Z [3,229ms] [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. +2026-09-19T15:57:10Z [3,230ms] [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. +2026-09-19T15:57:10Z [3,230ms] [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. +2026-09-19T15:57:10Z [3,231ms] [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. +2026-09-19T15:57:10Z [3,231ms] [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. +2026-09-19T15:57:10Z [3,231ms] [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. +2026-09-19T15:57:10Z [3,231ms] [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. +2026-09-19T15:57:10Z [3,232ms] [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. +2026-09-19T15:57:10Z [3,233ms] [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. +[3.336s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:57:10Z [3,237ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.340s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:57:10Z [3,240ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:57:10Z [3,242ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.345s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:57:10Z [3,243ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.346s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:57:10Z [3,246ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.349s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.354s] [ext: omni.isaac.utils-2.0.6] startup +[3.356s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.371s] [ext: isaacsim.app.about-2.0.11] startup +[3.376s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:57:10Z [3,275ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.378s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.379s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:57:10Z [3,278ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:57:10Z [3,279ms] [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. +2026-09-19T15:57:10Z [3,279ms] [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. +2026-09-19T15:57:10Z [3,280ms] [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. +2026-09-19T15:57:10Z [3,280ms] [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. +2026-09-19T15:57:10Z [3,282ms] [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. +2026-09-19T15:57:10Z [3,282ms] [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. +2026-09-19T15:57:10Z [3,282ms] [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. +2026-09-19T15:57:10Z [3,283ms] [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. +2026-09-19T15:57:10Z [3,284ms] [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. +2026-09-19T15:57:10Z [3,284ms] [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. +2026-09-19T15:57:10Z [3,287ms] [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. +[3.391s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:57:10Z [3,303ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:57:10Z [3,303ms] [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. +[3.407s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.414s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:57:10Z [3,312ms] [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. +[3.415s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.422s] [ext: omni.kit.property.audio-1.0.16] startup +[3.425s] [ext: omni.kit.property.camera-1.0.10] startup +[3.426s] [ext: omni.sensors.net-1.0.0] startup +[3.429s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.432s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.434s] [ext: omni.kit.property.light-1.0.12] startup +[3.479s] [ext: omni.kit.property.material-1.11.9] startup +[3.483s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.484s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.486s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.490s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.496s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.500s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.502s] [ext: omni.kit.property.render-1.2.1] startup +[3.504s] [ext: omni.kit.property.transform-1.5.13] startup +[3.508s] [ext: isaacsim.gui.property-1.1.3] startup +[3.509s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.515s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.521s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.527s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.531s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.533s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:57:10Z [3,433ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:57:10Z [3,433ms] [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. +[3.537s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:57:10Z [3,435ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:57:10Z [3,435ms] [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. +[3.538s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.549s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:57:10Z [3,448ms] [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. +2026-09-19T15:57:10Z [3,448ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:57:10Z [3,448ms] [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. +2026-09-19T15:57:10Z [3,448ms] [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. +2026-09-19T15:57:10Z [3,448ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +2026-09-19T15:57:10Z [3,449ms] [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. +[3.552s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:57:10Z [3,451ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.554s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.562s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.566s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.569s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.571s] [ext: omni.ocio-0.1.1] startup +[3.573s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.584s] [ext: omni.kit.window.console-1.1.4] startup +[3.589s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.592s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:57:10Z [3,490ms] [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. +[3.593s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.597s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.601s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.614s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:57:10Z [3,512ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.615s] [ext: semantics.schema.editor-2.0.2] startup +[3.621s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.623s] [ext: semantics.schema.property-2.0.1] startup +[3.624s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:57:10Z [3,522ms] [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. +2026-09-19T15:57:10Z [3,522ms] [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. +2026-09-19T15:57:10Z [3,522ms] [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. +[3.625s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:57:10Z [3,524ms] [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. +2026-09-19T15:57:10Z [3,524ms] [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. +2026-09-19T15:57:10Z [3,524ms] [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. +2026-09-19T15:57:10Z [3,524ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.627s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.642s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.650s] [ext: omni.kit.menu.common-2.0.1] startup +[3.652s] [ext: isaacsim.exp.base-5.1.0] startup +[3.653s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.654s] Simulation App Starting +2026-09-19T15:57:10Z [3,677ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T15:57:10Z [3,699ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.828s] app ready +[5.652s] Simulation App Startup Complete +[6.076s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:57:12Z [6,066ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:57:13Z [6,949ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.816] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.230] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:58:03Z [56,604ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:05Z [58,575ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T15:58:05Z [58,820ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,820ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [58,969ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,003ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,003ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,037ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,037ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,037ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,037ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,069ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,069ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,103ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:05Z [59,104ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,109ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,109ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,779ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,796ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,796ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,805ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,811ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,816ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,821ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:06Z [59,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,244ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,244ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,245ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,245ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,354ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:58:07Z [60,354ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:06.337] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:06.374] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T15:58:15Z [68,993ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:14.614] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:14.616] [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. +2026-09-19T15:58:16Z [69,785ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:16Z [69,786ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:16Z [69,787ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:16Z [69,788ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:58:19Z [72,642ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T15:58:25Z [78,571ms] [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 +2026-09-19T15:58:32Z [85,294ms] [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 +2026-09-19T15:58:37Z [90,932ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-19T16:12:03Z [896,324ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:12:03Z [896,324ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:12:03Z [896,324ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[896.520s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..a556021606fb81125b349f5e7fe01c8714eba652 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48d28ecb3ffbe633778617b8d50b35bf639c4973a156ad3b92d75128b54d0158 +size 617 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..6ef594e639e92d51256d98f804943dcd1d4c8746 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f9d0dcda82adb30cc6d64d3fe49710335edb0d7c2e750d5a011790779b2283 +size 7735679 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..423759ccfe96d715689479c2c15a5e8ab1a597a9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ed016893a75cdfae3e871e4fcf6d75d93c1e0059689d8b22a72d756abb288c8 +size 732527 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/case.json new file mode 100644 index 0000000000000000000000000000000000000000..fec3616549ae5965855713ae5f9431850f344158 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017290-f005326", + "kind": "vla", + "episode_id": "00017290", + "instance_id": 729, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017290.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017290.json", + "frame": 5326, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 5326, + 5329 + ], + "reason": "The can achieved Inside(can, trash_can) at f5293 but regressed to OnTop(can, trash_can) by f5329, indicating it bounced out or never seated properly. Frame 5326 is the release point where IsGrasping(left, can) flipped false\u2014the last moment before the failed placement became irreversible. A corrected release trajectory from this frame could still succeed. The alternative seed at f5293 (when Inside first fired) is mid-release and less clean as a restart boundary." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..8a3d0794e290020f5be6b6cb7227cca8db0224e9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f005326/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017290-f005326", + "episode_id": "00017290", + "instance_id": 729, + "start_type": "judgement_seed", + "source_frame": 5326, + "attempt": "attempt_001", + "completed_at": "2026-09-19T16:12:42+00:00", + "success": false, + "status": "error", + "error": "no_remaining_recoverable_target", + "teacher_steps": 489, + "dataset_frames": 489, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00017290-f005326/attempt_001/dataset", + "video": "runs/vla-episode_00017290-f005326/attempt_001/video.mp4", + "initial_inside": 1, + "final_inside": 1, + "initial_held": { + "left": null, + "right": "trash_can_116" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 30 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1811089baadf011cd6482d8ec168b753cffaf05d --- /dev/null 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"arm": "right", "body_xyz": [0.5701959095924094, -0.32981703328194845, 0.3078259513870053], "world_xyz": [4.269945875317047, 5.679482949876252, 0.313024738791551], "held": {"left": null, "right": null}} +{"step": 1069, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1069, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1084, "event": "joint_tracking", "max_error_rad": 9.5367431640625e-07} +{"step": 1084, "event": "eef_tracking", "arm": "right", "actual_xyz": [4.269944667816162, 5.6794819831848145, 0.31303369998931885], "desired_xyz": [4.269945875317047, 5.679482949876252, 0.313024738791551], "error_m": 9.093713001640841e-06} +{"step": 1084, "event": "eef_target", "arm": "right", "body_xyz": [0.5702041349978639, -0.3298157314878918, 0.27282634047344906], "world_xyz": [4.269945875317047, 5.679482949876252, 0.2780247387915509], "held": {"left": null, "right": null}} +{"step": 1084, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 1084, "event": "self_collision_guard", "rejected_self_collision": 12, "rejected_held_clearance": 0, "worst_rejected_pair": [["base_link", "left_gripper_finger_link2"], 0.008634648483857569], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1084, "event": "actions_rejected", "start": 1084, "end": 1084, "reason": "ik_infeasible:right:[ 0.57 -0.33 0.273]"} +{"step": 1084, "event": "primitive_failure", "operation": "pick_bin", "reason": "ik_infeasible:right:[ 0.57 -0.33 0.273]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..dc8440f0fd169140633a6c8693af1e2f370df7da --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1084 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 289, in pick\n self.descend_and_close(obj, arm, target[:3, 3], orientation, ref)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 349, in descend_and_close\n self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref[\"q\"])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.57 -0.33 0.273]\n", + "steps": 1084, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_3": true + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 4.234492301940918, + 5.045897006988525, + 0.28343045711517334 + ], + [ + 0.9513428807258606, + -0.2743282616138458, + 0.1377275586128235, + 0.026870325207710266 + ] + ], + "right": [ + [ + 4.269944667816162, + 5.6794819831848145, + 0.31303369998931885 + ], + [ + 0.9334370493888855, + -0.31133371591567993, + -0.1148320809006691, + -0.13630950450897217 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 2.8923332691192627, + 5.175390720367432, + 0.07145705819129944 + ], + "can__of__soda.n.01_1": [ + 3.0908563137054443, + 5.3333258628845215, + 0.07145736366510391 + ], + "can__of__soda.n.01_3": [ + 4.175925254821777, + 5.596096515655518, + 0.06714267283678055 + ], + "ashcan.n.01_1": [ + 4.205296039581299, + 5.593189716339111, + 0.13483594357967377 + ] + }, + "robot_pose": [ + [ + 4.562896728515625, + 5.089450359344482, + 0.005285441875457764 + ], + [ + 7.89891928434372e-05, + -1.6480005797347985e-05, + -0.9574404358863831, + -0.2886308431625366 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 450 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..95d76311f24c30f1ed4731a350672ee72348e302 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed904adb9b4b0ee08e2376cafec53f07d73c78e564547511df1d2cf0e0368dc6 +size 437432 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..a6b032889f4f71fce7730820d4c86bb466d5c63c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/run.log @@ -0,0 +1,643 @@ +RECOVERY building environment +[00:00:03.542] [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_111803.log +[0.051s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.101s] [ext: omni.metrics.core-0.0.3] startup +[0.101s] [ext: omni.client.lib-1.1.0] startup +[0.110s] [ext: omni.blobkey-1.1.2] startup +[0.110s] [ext: omni.stats-1.0.1] startup +[0.111s] [ext: omni.datastore-0.0.0] startup +[0.115s] [ext: omni.client-1.3.0] startup +[0.117s] [ext: omni.ujitso.default-1.0.0] startup +[0.118s] [ext: omni.hsscclient-1.1.2] startup +[0.122s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.123s] [ext: omni.assets.plugins-0.0.0] startup +[0.124s] [ext: omni.gpu_foundation-0.0.0] startup +[0.129s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T03:18:03Z [100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:03Z [100ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.130s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T03:18:03Z [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: 46671 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T03:18:04Z [733ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.882s] [ext: omni.materialx.libs-1.0.7] startup +[0.887s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.888s] [ext: omni.kit.test-2.0.1] startup +[0.902s] [ext: omni.usd.config-1.0.6] startup +[0.904s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.904s] [ext: omni.usd.libs-1.0.1] startup +[1.014s] [ext: omni.kit.telemetry-0.5.2] startup +[1.071s] [ext: omni.mdl-56.0.3] startup +[1.087s] [ext: omni.iray.libs-0.0.0] startup +[1.094s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.096s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.169s] [ext: omni.kit.pipapi-0.0.0] startup +[1.170s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T03:18:04Z [1,141ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,141ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.172s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T03:18:04Z [1,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,173ms] [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) +2026-09-21T03:18:04Z [1,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,179ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.210s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.212s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T03:18:04Z [1,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,185ms] [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) +2026-09-21T03:18:04Z [1,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,186ms] [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) +2026-09-21T03:18:04Z [1,187ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:18:04Z [1,187ms] [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) +[1.255s] [ext: omni.ui-2.27.1] startup +[1.262s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.262s] [ext: carb.audio-0.1.0] startup +[1.266s] [ext: omni.uiaudio-1.0.0] startup +[1.266s] [ext: omni.kit.uiapp-0.0.0] startup +[1.266s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.268s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.271s] [ext: omni.usd_resolver-1.0.0] startup +[1.275s] [ext: omni.usd.core-1.5.3] startup +[1.279s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.297s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.316s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.319s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.321s] [ext: omni.kit.actions.core-1.0.0] startup +[1.323s] [ext: omni.activity.core-1.0.3] startup +[1.324s] [ext: omni.kit.commands-1.4.10] startup +[1.326s] [ext: usdrt.scenegraph-7.6.1] startup +[1.351s] [ext: omni.resourcemonitor-107.0.1] startup +[1.353s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.354s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.361s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.361s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.364s] [ext: omni.graph.exec-0.9.6] startup +[1.364s] [ext: omni.timeline-1.0.14] startup +[1.365s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.366s] [ext: omni.kit.exec.core-0.13.4] startup +[1.367s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.373s] [ext: omni.usd-1.13.10] startup +[1.394s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.404s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.404s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.409s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.417s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.421s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.422s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.422s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.446s] [ext: omni.inspect-1.0.2] startup +[1.447s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.448s] [ext: omni.graph.core-2.184.5] startup +[1.451s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.451s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.451s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.457s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.460s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.460s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.463s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.464s] [ext: omni.kit.clipboard-1.0.5] startup +[1.464s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.470s] [ext: omni.ui.scene-1.11.5] startup +[1.473s] [ext: omni.index.libs-380600.8087.0] startup +[1.473s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.479s] [ext: omni.index-1.0.1] startup +[1.479s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.480s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.482s] [ext: omni.volume-0.5.2] startup +[1.484s] [ext: omni.ujitso.client-0.0.0] startup +[1.484s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.485s] [ext: omni.kit.menu.core-1.1.2] startup +[1.485s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T03:18:05Z [1,473ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.521s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.522s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.524s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.525s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.529s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.535s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.539s] [ext: omni.kit.context_menu-1.8.6] startup +[1.540s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.542s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.542s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.544s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.550s] [ext: omni.kit.material.library-2.0.7] startup +[1.552s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.553s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.555s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.566s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.567s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.567s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.568s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.568s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.568s] [ext: omni.kit.browser.core-2.3.13] startup +[1.570s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.571s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.577s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.579s] [ext: omni.kit.window.file-2.0.5] startup +[1.581s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.581s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.582s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.583s] [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 +[1.599s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.605s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.607s] [ext: omni.graph.action_core-1.1.7] startup +[1.608s] [ext: omni.graph-1.141.2] startup +[1.634s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.635s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.638s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.643s] [ext: omni.kit.window.stage-2.6.1] startup +[1.649s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.651s] [ext: omni.graph.action-1.130.0] startup +[1.652s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.654s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.656s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.657s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.662s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.679s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.681s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.682s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.683s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.692s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.693s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.694s] [ext: omni.kit.window.property-1.12.1] startup +[1.696s] [ext: omni.ui_query-1.1.8] startup +[1.697s] [ext: omni.kit.property.usd-4.5.12] startup +[1.704s] [ext: omni.kit.menu.create-2.0.1] startup +[1.706s] [ext: isaacsim.core.version-2.0.6] startup +[1.707s] [ext: omni.kit.ui_test-1.3.7] startup +[1.708s] [ext: omni.kit.scripting-107.3.2] startup +[1.711s] [ext: omni.convexdecomposition-107.3.26] startup +[1.714s] [ext: isaacsim.storage.native-1.5.1] startup +[1.715s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.721s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.725s] [ext: omni.kvdb-107.3.26] startup +[1.726s] [ext: omni.usdphysics-107.3.26] startup +[1.729s] [ext: omni.physx.foundation-107.3.26] startup +[1.731s] [ext: omni.localcache-107.3.26] startup +[1.732s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.736s] [ext: omni.physx.cooking-107.3.26] startup +[1.739s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.740s] [ext: omni.physx-107.3.26] startup +[1.748s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.753s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.754s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.757s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.766s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.768s] [ext: isaacsim.gui.components-1.2.1] startup +[1.771s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.776s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.869s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.875s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.879s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.884s] [ext: omni.fabric.commands-1.1.6] startup +[1.886s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.887s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.891s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.901s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.903s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.903s] [ext: omni.debugdraw-0.1.4] startup +[1.909s] [ext: omni.physics-107.3.26] startup +[1.911s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.929s] [ext: omni.physx.commands-107.3.26] startup +[1.934s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.935s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.937s] [ext: omni.physx.ui-107.3.26] startup +[1.958s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.963s] [ext: omni.physx.supportui-107.3.26] startup +[1.973s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.974s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.976s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.979s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T03:18:05Z [1,951ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.981s] [ext: omni.physics.tensors-107.3.26] startup +[1.985s] [ext: omni.warp.core-1.8.2] startup +[2.093s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.094s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:18:05Z [2,070ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.100s] [ext: omni.physx.tensors-107.3.26] startup +[2.105s] [ext: isaacsim.core.utils-3.5.1] startup +[2.108s] [ext: omni.graph.image.core-0.6.1] startup +[2.111s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.186s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.189s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.190s] [ext: isaacsim.core.prims-0.6.1] startup +[2.206s] [ext: omni.syntheticdata-0.6.13] startup +[2.217s] [ext: isaacsim.core.api-4.8.0] startup +[2.232s] [ext: omni.videoencoding-0.1.2] startup +[2.236s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.237s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.240s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.241s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.242s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.247s] [ext: omni.graph.nodes-1.170.10] startup +[2.261s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.264s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.267s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:18:05Z [2,238ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.268s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.276s] [ext: omni.warp-1.8.2] startup +[2.280s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.296s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.300s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.337s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.394s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:18:05Z [2,383ms] [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 +2026-09-21T03:18:06Z [2,460ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:18:06Z [2,460ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:18:06Z [2,461ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.493s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.495s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.499s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.510s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:18:06Z [2,481ms] [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. +[2.516s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.522s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.544s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.583s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.599s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.605s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:18:06Z [2,580ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.661s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.667s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:18:06Z [2,672ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.719s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:18:06Z [2,699ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.743s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.869s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:18:06Z [2,841ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:18:06Z [2,841ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:18:06Z [2,867ms] [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. +[2.897s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.908s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:18:06Z [2,879ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.909s] [ext: omni.kit.selection-0.1.6] startup +[2.911s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.917s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:18:06Z [2,888ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,888ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,888ms] [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. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:18:06Z [2,889ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.921s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.939s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.956s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.961s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:18:06Z [2,933ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.964s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.970s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:18:06Z [2,943ms] [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. +2026-09-21T03:18:06Z [2,943ms] [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. +2026-09-21T03:18:06Z [2,943ms] [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. +2026-09-21T03:18:06Z [2,944ms] [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. +2026-09-21T03:18:06Z [2,945ms] [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. +2026-09-21T03:18:06Z [2,946ms] [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. +2026-09-21T03:18:06Z [2,946ms] [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. +2026-09-21T03:18:06Z [2,947ms] [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. +2026-09-21T03:18:06Z [2,948ms] [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. +2026-09-21T03:18:06Z [2,948ms] [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. +2026-09-21T03:18:06Z [2,950ms] [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. +2026-09-21T03:18:06Z [2,953ms] [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. +2026-09-21T03:18:06Z [2,953ms] [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. +2026-09-21T03:18:06Z [2,953ms] [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. +2026-09-21T03:18:06Z [2,953ms] [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. +2026-09-21T03:18:06Z [2,954ms] [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. +[2.984s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:18:06Z [2,956ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.987s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:18:06Z [2,959ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:18:06Z [2,959ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.990s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:18:06Z [2,961ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.991s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:18:06Z [2,963ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.994s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.002s] [ext: omni.isaac.utils-2.0.6] startup +[3.004s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.017s] [ext: isaacsim.app.about-2.0.11] startup +[3.020s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:18:06Z [2,991ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.021s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.023s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:18:06Z [2,996ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:18:06Z [2,997ms] [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. +2026-09-21T03:18:06Z [2,997ms] [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. +2026-09-21T03:18:06Z [2,998ms] [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. +2026-09-21T03:18:06Z [2,998ms] [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. +2026-09-21T03:18:06Z [2,999ms] [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. +2026-09-21T03:18:06Z [2,999ms] [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. +2026-09-21T03:18:06Z [2,999ms] [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. +2026-09-21T03:18:06Z [3,001ms] [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. +2026-09-21T03:18:06Z [3,003ms] [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. +2026-09-21T03:18:06Z [3,005ms] [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. +2026-09-21T03:18:06Z [3,014ms] [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. +[3.045s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:18:06Z [3,020ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:18:06Z [3,021ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly. +[3.052s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.060s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:18:06Z [3,030ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly. +[3.060s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.076s] [ext: omni.kit.property.audio-1.0.16] startup +[3.077s] [ext: omni.kit.property.camera-1.0.10] startup +[3.078s] [ext: omni.sensors.net-1.0.0] startup +[3.081s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.084s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.087s] [ext: omni.kit.property.light-1.0.12] startup +[3.129s] [ext: omni.kit.property.material-1.11.9] startup +[3.136s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.138s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.140s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.145s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.152s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.156s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.159s] [ext: omni.kit.property.render-1.2.1] startup +[3.161s] [ext: omni.kit.property.transform-1.5.13] startup +[3.164s] [ext: isaacsim.gui.property-1.1.3] startup +[3.166s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.175s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.184s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.193s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.197s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.200s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:18:06Z [3,173ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:18:06Z [3,173ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly. +[3.205s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:18:06Z [3,176ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:18:06Z [3,176ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly. +[3.206s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.220s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:18:06Z [3,192ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly. +2026-09-21T03:18:06Z [3,192ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,192ms] [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. +2026-09-21T03:18:06Z [3,193ms] [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. +2026-09-21T03:18:06Z [3,193ms] [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. +2026-09-21T03:18:06Z [3,193ms] [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. +[3.223s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:18:06Z [3,196ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.227s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.233s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.242s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.245s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.248s] [ext: omni.ocio-0.1.1] startup +[3.250s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.257s] [ext: omni.kit.window.console-1.1.4] startup +[3.270s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.276s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:18:06Z [3,247ms] [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. +[3.277s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.284s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.289s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.301s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:18:06Z [3,271ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.301s] [ext: semantics.schema.editor-2.0.2] startup +[3.305s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.306s] [ext: semantics.schema.property-2.0.1] startup +[3.308s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:18:06Z [3,278ms] [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. +2026-09-21T03:18:06Z [3,278ms] [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. +2026-09-21T03:18:06Z [3,279ms] [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. +[3.309s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:18:06Z [3,281ms] [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. +2026-09-21T03:18:06Z [3,281ms] [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. +2026-09-21T03:18:06Z [3,281ms] [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. +2026-09-21T03:18:06Z [3,281ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.311s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.320s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.325s] [ext: omni.kit.menu.common-2.0.1] startup +[3.326s] [ext: isaacsim.exp.base-5.1.0] startup +[3.328s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.329s] Simulation App Starting +2026-09-21T03:18:06Z [3,344ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T03:18:06Z [3,373ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.434s] app ready +[5.221s] Simulation App Startup Complete +[5.580s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:18:09Z [5,669ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:18:10Z [6,596ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.214] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.674] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:19:04Z [61,294ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:19:06Z [63,280ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T03:19:07Z [63,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,531ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,778ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,812ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,813ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,820ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:07Z [63,820ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,469ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,469ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,470ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,495ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,514ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,514ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,518ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,524ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,530ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,541ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,541ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,688ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,972ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,972ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,973ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [64,996ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:19:08Z [65,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:19:08Z [65,085ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:09.837] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:09.875] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:19:17Z [73,757ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:18.175] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:18.178] [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. +2026-09-21T03:19:18Z [74,593ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:19:18Z [74,595ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:19:18Z [74,596ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:19:18Z [74,597ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:19:20Z [77,438ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:19:41Z [97,508ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 720 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 840 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +RECOVERY progress 1080 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 289, in pick + self.descend_and_close(obj, arm, target[:3, 3], orientation, ref) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 349, in descend_and_close + self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref["q"]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.57 -0.33 0.273] + +2026-09-21T03:25:20Z [436,930ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:20Z [436,930ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:20Z [436,930ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[437.064s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..1880ecc6625e0b0ec19c72783b12b3d54c7c45ce --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07e31aab91309f6a111ceeafbb096cb5231ecfd16fdfb8fc44d647e6b925031e +size 1212 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3b681291eaf84ade55c8477b92eab16bcd1355d6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a42cf0573b66706d45508cf0c84bb4c3fbdccdef4ff5d4a84d81f3e2038ca287 +size 16949210 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..896d0767d037083c061dfb0b030fb52e8d36e5e7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8f07fd5327eb9aa7c4ccac02560e91cf5b450e51c0e3791a02c036dbee2da8a +size 2332566 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/case.json new file mode 100644 index 0000000000000000000000000000000000000000..6cd8f9b5afb0fa7c91452acd036bbe453ca7b1a5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017290-f006853", + "kind": "vla", + "episode_id": "00017290", + "instance_id": 729, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017290.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017290.json", + "frame": 6853, + "start_type": "judgement_seed", + "chunk_index": 4, + "chunk_span": [ + 6853, + 10535 + ], + "reason": "Both grippers became empty at f6853 (right released trash_can at f6853, left already empty since f5326) and no further manipulation occurred. The robot navigated the room for 3682 frames but never approached any of the three remaining targets: can_of_soda_113 (on trash can rim), can_of_soda_114, or can_of_soda_115 (both still on living room floor). Frame 6853 is the first moment the robot could resume productive work but abandoned the task instead. Arm is 'either' because both hands are free and the failed can on the trash can rim is accessible from either side." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4bd3280d8d2f79fc977b3dcfcbbfc5b014f6ea --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017290-f006853/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017290-f006853", + "episode_id": "00017290", + "instance_id": 729, + "start_type": "judgement_seed", + "source_frame": 6853, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:26:20+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:right:[ 0.57 -0.33 0.273]", + "teacher_steps": 1084, + "dataset_frames": 1084, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00017290-f006853/attempt_001/dataset", + "video": "runs/vla-episode_00017290-f006853/attempt_001/video.mp4", + "initial_inside": 1, + "final_inside": 1, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 50 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7c49d67eeed4c2d7c5659cb5434588467d9486aa --- /dev/null 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Seed at f0 restores the untouched starting state present in all 200 demo episodes; the correct first action is to pick up the trash can with the right arm." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba38c06913480e0e114788a0b0c3bd871317b7b0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/events.jsonl @@ -0,0 +1,808 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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5.917758941650391, 0.6254985928535461], "desired_xyz": [4.690397563922943, 5.917753050506916, 0.6255298020753107], "error_m": 4.725085535930792e-05} +{"step": 5272, "event": "eef_target", "arm": "left", "body_xyz": [0.6362518417832594, -0.0034337790221761894, 0.6203460274873275], "world_xyz": [4.649599288923355, 5.923048719437132, 0.6255292240251361], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5272, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5272, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4412569113089402, -0.4094505994040438, 0.03537745423121126], [0.30808284856772655, 0.3810862653188171, 0.41090419885157003]]} +{"step": 5290, "event": "joint_tracking", "max_error_rad": 0.0014146938920021057} +{"step": 5290, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.649631500244141, 5.923054218292236, 0.6254997849464417], "desired_xyz": [4.649599288923355, 5.923048719437132, 0.6255292240251361], "error_m": 4.398256414313538e-05} +{"step": 5290, "event": "eef_target", "arm": "left", "body_xyz": [0.6362455441657864, 0.037703911485809524, 0.620346089557277], "world_xyz": [4.608801013923767, 5.928344388367347, 0.6255286459749618], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5290, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5290, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.44125696599478365, -0.40945065932699026, 0.035377446082173684], [0.3080828438456751, 0.38108626014527797, 0.41090417768451776]]} +{"step": 5308, "event": "joint_tracking", "max_error_rad": 0.0013820379972457886} +{"step": 5308, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.608831882476807, 5.928347110748291, 0.6255020499229431], "desired_xyz": [4.608801013923767, 5.928344388367347, 0.6255286459749618], "error_m": 4.083661234435129e-05} +{"step": 5308, "event": "eef_target", "arm": "left", "body_xyz": [0.6362433900138758, 0.07884270313496078, 0.6203462551500165], "world_xyz": [4.568002738924179, 5.933640057297564, 0.6255280679247872], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5308, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5308, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.44125627210937796, -0.40944948614763155, 0.03537757551367122], [0.30808147966931637, 0.38108563118005523, 0.4109041165993234]]} +{"step": 5326, "event": "joint_tracking", "max_error_rad": 0.001352854073047638} +{"step": 5326, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.568033695220947, 5.93364143371582, 0.6255050897598267], "desired_xyz": [4.568002738924179, 5.933640057297564, 0.6255280679247872], "error_m": 3.8576973725262596e-05} +{"step": 5326, "event": "eef_target", "arm": "left", "body_xyz": [0.6362432556398929, 0.11998299732961257, 0.620346062066264], "world_xyz": [4.5272044639245905, 5.938935726227779, 0.6255274898746127], "held": {"left": null, "right": "trash_can_116"}} +{"step": 5326, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 5326, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.0, "held_worst_rejected_m": null, "base_box_body": [[-0.4412561138757631, -0.4094492136426031, 0.03537748253427189], [0.30808084401187813, 0.3810854687940672, 0.4109041706114821]]} +{"step": 5344, "event": "joint_tracking", "max_error_rad": 0.0013342052698135376} +{"step": 5344, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.527234077453613, 5.938936710357666, 0.6255079507827759], "desired_xyz": [4.5272044639245905, 5.938935726227779, 0.6255274898746127], "error_m": 3.549233329359794e-05} +{"step": 5344, "event": "primitive_verified", "operation": "deposit:can_of_soda_114", "start": 4800, "end": 5344} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..ce2a27ed0652ffb679967a8c4b48a78ef7eb6958 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/5344 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.855s] [ext: omni.physics.tensors-107.3.26] startup +[1.860s] [ext: omni.warp.core-1.8.2] startup +[1.989s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.991s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T15:58:47Z [1,957ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.997s] [ext: omni.physx.tensors-107.3.26] startup +[2.001s] [ext: isaacsim.core.utils-3.5.1] startup +[2.004s] [ext: omni.graph.image.core-0.6.1] startup +[2.007s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.084s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.086s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.088s] [ext: isaacsim.core.prims-0.6.1] startup +[2.103s] [ext: omni.syntheticdata-0.6.13] startup +[2.115s] [ext: isaacsim.core.api-4.8.0] startup +[2.130s] [ext: omni.videoencoding-0.1.2] startup +[2.134s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.136s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.140s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.141s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.142s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.147s] [ext: omni.graph.nodes-1.170.10] startup +[2.160s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.162s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.165s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T15:58:47Z [2,126ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.165s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.171s] [ext: omni.warp-1.8.2] startup +[2.175s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.192s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.205s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.251s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.298s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T15:58:47Z [2,270ms] [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 +2026-09-19T15:58:48Z [2,336ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T15:58:48Z [2,336ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T15:58:48Z [2,336ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.378s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.380s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.384s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.392s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T15:58:48Z [2,356ms] [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. +[2.398s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.405s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.419s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.428s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.435s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.438s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T15:58:48Z [2,404ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.453s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.459s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T15:58:48Z [2,440ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.480s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T15:58:48Z [2,443ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.482s] [ext: omni.anim.curve.core-1.3.1] startup +[2.551s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T15:58:48Z [2,515ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:58:48Z [2,516ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T15:58:48Z [2,609ms] [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. +[2.668s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.739s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T15:58:48Z [2,701ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.740s] [ext: omni.kit.selection-0.1.6] startup +[2.743s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.749s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T15:58:48Z [2,711ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,711ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,711ms] [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. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T15:58:48Z [2,712ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.752s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.761s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.772s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.779s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T15:58:48Z [2,741ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.781s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.786s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T15:58:48Z [2,750ms] [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. +2026-09-19T15:58:48Z [2,750ms] [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. +2026-09-19T15:58:48Z [2,751ms] [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. +2026-09-19T15:58:48Z [2,751ms] [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. +2026-09-19T15:58:48Z [2,751ms] [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. +2026-09-19T15:58:48Z [2,751ms] [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. +2026-09-19T15:58:48Z [2,753ms] [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. +2026-09-19T15:58:48Z [2,753ms] [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. +2026-09-19T15:58:48Z [2,753ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,754ms] [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. +2026-09-19T15:58:48Z [2,756ms] [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. +[2.799s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T15:58:48Z [2,761ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.801s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T15:58:48Z [2,763ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T15:58:48Z [2,764ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.803s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T15:58:48Z [2,764ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.804s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T15:58:48Z [2,767ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.806s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.812s] [ext: omni.isaac.utils-2.0.6] startup +[2.814s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.823s] [ext: isaacsim.app.about-2.0.11] startup +[2.825s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T15:58:48Z [2,787ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.826s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.827s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T15:58:48Z [2,790ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T15:58:48Z [2,790ms] [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. +2026-09-19T15:58:48Z [2,790ms] [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. +2026-09-19T15:58:48Z [2,791ms] [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. +2026-09-19T15:58:48Z [2,792ms] [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. +2026-09-19T15:58:48Z [2,792ms] [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. +2026-09-19T15:58:48Z [2,793ms] [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. +2026-09-19T15:58:48Z [2,793ms] [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. +2026-09-19T15:58:48Z [2,793ms] [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. +2026-09-19T15:58:48Z [2,793ms] [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. +2026-09-19T15:58:48Z [2,794ms] [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. +2026-09-19T15:58:48Z [2,794ms] [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. +[2.834s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T15:58:48Z [2,811ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T15:58:48Z [2,811ms] [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. +[2.850s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.857s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T15:58:48Z [2,819ms] [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. +[2.858s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.864s] [ext: omni.kit.property.audio-1.0.16] startup +[2.865s] [ext: omni.kit.property.camera-1.0.10] startup +[2.866s] [ext: omni.sensors.net-1.0.0] startup +[2.869s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.871s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.874s] [ext: omni.kit.property.light-1.0.12] startup +[2.925s] [ext: omni.kit.property.material-1.11.9] startup +[2.929s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.931s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.932s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.936s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.942s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.946s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.948s] [ext: omni.kit.property.render-1.2.1] startup +[2.949s] [ext: omni.kit.property.transform-1.5.13] startup +[2.954s] [ext: isaacsim.gui.property-1.1.3] startup +[2.956s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.964s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.969s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.979s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.983s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.989s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T15:58:48Z [2,951ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T15:58:48Z [2,951ms] [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. +[2.991s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T15:58:48Z [2,952ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T15:58:48Z [2,953ms] [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. +[2.992s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.012s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T15:58:48Z [2,975ms] [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. +2026-09-19T15:58:48Z [2,975ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T15:58:48Z [2,976ms] [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. +2026-09-19T15:58:48Z [2,976ms] [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. +2026-09-19T15:58:48Z [2,976ms] [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. +2026-09-19T15:58:48Z [2,976ms] [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. +2026-09-19T15:58:48Z [2,977ms] [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. +2026-09-19T15:58:48Z [2,977ms] [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. +2026-09-19T15:58:48Z [2,979ms] [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. +2026-09-19T15:58:48Z [2,979ms] [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. +2026-09-19T15:58:48Z [2,980ms] [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. +[3.020s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T15:58:48Z [2,983ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.023s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.036s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.039s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.041s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.044s] [ext: omni.ocio-0.1.1] startup +[3.046s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.052s] [ext: omni.kit.window.console-1.1.4] startup +[3.062s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.075s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T15:58:48Z [3,037ms] [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. +[3.076s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.081s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.087s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.101s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T15:58:48Z [3,063ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.102s] [ext: semantics.schema.editor-2.0.2] startup +[3.108s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.110s] [ext: semantics.schema.property-2.0.1] startup +[3.112s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T15:58:48Z [3,073ms] [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. +2026-09-19T15:58:48Z [3,073ms] [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. +2026-09-19T15:58:48Z [3,074ms] [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. +[3.113s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T15:58:48Z [3,077ms] [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. +2026-09-19T15:58:48Z [3,077ms] [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. +2026-09-19T15:58:48Z [3,077ms] [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. +2026-09-19T15:58:48Z [3,077ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.116s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.130s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.138s] [ext: omni.kit.menu.common-2.0.1] startup +[3.140s] [ext: isaacsim.exp.base-5.1.0] startup +[3.141s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.142s] Simulation App Starting +2026-09-19T15:58:49Z [3,402ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.472s] app ready +[5.717s] Simulation App Startup Complete +[6.021s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T15:58:51Z [6,105ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T15:58:52Z [6,982ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.500] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.770] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T15:59:48Z [63,037ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T15:59:51Z [65,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,745ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,904ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,904ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [65,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,041ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,096ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,097ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:51Z [66,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,956ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,956ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,956ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [66,986ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,004ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,008ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,014ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,020ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,020ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,025ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,025ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,031ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,031ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,178ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,178ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,178ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:52Z [67,179ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,607ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,608ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T15:59:53Z [67,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T15:59:54Z [68,635ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:12.479] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:12.518] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:00:03Z [77,335ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:21.566] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:21.568] [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. +2026-09-19T16:00:03Z [78,076ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:00:03Z [78,077ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:00:03Z [78,078ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:00:03Z [78,079ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:00:06Z [80,972ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:00:12Z [86,648ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 480 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 600 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 960 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1080 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1200 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1320 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +2026-09-19T16:04:04Z [318,458ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +RECOVERY progress 1560 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1680 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1800 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 1920 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2040 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2160 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2280 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2400 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2520 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 2640 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-19T16:13:52Z [907,085ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 2760 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 2880 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3000 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3120 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3240 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 3360 release_into_aligned_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3480 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3600 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3720 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3840 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 3960 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4080 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 4200 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +2026-09-19T16:18:02Z [1,157,306ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 4320 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4440 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4560 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4680 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4800 recover_and_reobserve {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 4920 transport_posture {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5040 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5160 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'} +RECOVERY progress 5280 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1495, in run + raise RecoveryFailure("no_remaining_recoverable_target") +task01_recovery.control.RecoveryFailure: no_remaining_recoverable_target + +2026-09-19T16:20:11Z [1,285,761ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:20:11Z [1,285,761ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:20:11Z [1,285,761ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1285.903s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f000000/attempt_001/supervision_mask.npy 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Robot instead walked to can_of_soda_114 and grasped it with the right arm (IsGrasping(right, can_114) True at f2569), loading both hands and making task completion impossible. Picking up trash_can_116 with the free right arm at f1348 was the last viable recovery point before both arms were committed." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5bc3b8aca976b8418560dfc13851338228e9923 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/events.jsonl @@ -0,0 +1,379 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", 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0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2094, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2111, "event": "joint_tracking", "max_error_rad": 2.5425106287002563e-06} +{"step": 2111, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.5290195941925049, 2.8664379119873047, 0.5270141363143921], "desired_xyz": [1.5290330909158205, 2.8664326555795587, 0.526998944076199], "error_m": 2.099036597983073e-05} +{"step": 2111, "event": "eef_target", "arm": "right", "body_xyz": [0.5852882605764117, -0.26536175007186397, 0.4923351118272507], "world_xyz": [1.5520922467043827, 2.8814055695667107, 0.4975299974129572], "held": {"left": null, "right": null}} +{"step": 2111, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2111, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2128, "event": "joint_tracking", "max_error_rad": 2.771615982055664e-06} +{"step": 2128, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.5520787239074707, 2.8814122676849365, 0.4975462555885315], "desired_xyz": [1.5520922467043827, 2.8814055695667107, 0.4975299974129572], "error_m": 2.21824051242195e-05} +{"step": 2128, "event": "eef_target", "arm": "right", "body_xyz": [0.5581270328954292, -0.2695938042096219, 0.4628617328135571], "world_xyz": [1.5751514024929447, 2.896378483553862, 0.4680610507497153], "held": {"left": null, "right": null}} +{"step": 2128, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2128, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2145, "event": "joint_tracking", "max_error_rad": 5.170702934265137e-06} +{"step": 2145, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.5751361846923828, 2.896385908126831, 0.46807900071144104], "desired_xyz": [1.5751514024929447, 2.896378483553862, 0.4680610507497153], "error_m": 2.4676038249012897e-05} +{"step": 2145, "event": "eef_target", "arm": "right", "body_xyz": [0.5309651496405206, -0.27382591593789385, 0.4333884047551255], "world_xyz": [1.598210558281506, 2.9113513975410137, 0.43859210408647403], "held": {"left": null, "right": null}} +{"step": 2145, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2145, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2162, "event": "joint_tracking", "max_error_rad": 1.4603137969970703e-06} +{"step": 2162, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.5981966257095337, 2.9113593101501465, 0.4386109411716461], "desired_xyz": [1.598210558281506, 2.9113513975410137, 0.43859210408647403], "error_m": 2.4729774015013412e-05} +{"step": 2162, "event": "eef_target", "arm": "right", "body_xyz": [0.5038044192236553, -0.2780577789860702, 0.4039148168776961], "world_xyz": [1.6212697140700678, 2.9263243115281656, 0.4091231574232322], "held": {"left": null, "right": null}} +{"step": 2162, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2162, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2179, "event": "joint_tracking", "max_error_rad": 2.175569534301758e-06} +{"step": 2179, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.6212544441223145, 2.926330804824829, 0.4091435670852661], "desired_xyz": [1.6212697140700678, 2.9263243115281656, 0.4091231574232322], "error_m": 2.6303773689135597e-05} +{"step": 2179, "event": "eef_target", "arm": "right", "body_xyz": [0.4766427522076847, -0.28228912769177317, 0.37444162651600243], "world_xyz": [1.64432886985863, 2.941297225515317, 0.37965421075999034], "held": {"left": null, "right": null}} +{"step": 2179, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2179, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2196, "event": "joint_tracking", "max_error_rad": 1.6540288925170898e-06} +{"step": 2196, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.644313931465149, 2.94130277633667, 0.37967610359191895], "desired_xyz": [1.64432886985863, 2.941297225515317, 0.37965421075999034], "error_m": 2.7078835044013046e-05} +{"step": 2196, "event": "eef_target", "arm": "right", "body_xyz": [0.4766533211507813, -0.28229464181505337, 0.3444526418836956], "world_xyz": [1.6443214006618898, 2.9413000009259935, 0.3496651571759546], "held": {"left": null, "right": null}} +{"step": 2196, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2196, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2211, "event": "joint_tracking", "max_error_rad": 1.0579824447631836e-06} +{"step": 2211, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.6443209648132324, 2.941298484802246, 0.3496819734573364], "desired_xyz": [1.6443214006618898, 2.9413000009259935, 0.3496651571759546], "error_m": 1.6890112929841953e-05} +{"step": 2211, "event": "eef_target", "arm": "right", "body_xyz": [0.47665734117104674, -0.28228858739920204, 0.3144416164888833], "world_xyz": [1.6443288698586298, 2.941297225515317, 0.3196542107599904], "held": {"left": null, "right": null}} +{"step": 2211, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2211, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2226, "event": "joint_tracking", "max_error_rad": 1.2516975402832031e-06} +{"step": 2226, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.644328236579895, 2.9412968158721924, 0.3196704387664795], "desired_xyz": [1.6443288698586298, 2.941297225515317, 0.3196542107599904], "error_m": 1.6245523815982934e-05} +{"step": 2226, "event": "eef_target", "arm": "right", "body_xyz": [0.4766678648680471, -0.2822877397181093, 0.27944144002501503], "world_xyz": [1.6443288698586302, 2.941297225515317, 0.28465421075999037], "held": {"left": null, "right": null}} +{"step": 2226, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2226, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2251, "event": "joint_tracking", "max_error_rad": 1.430511474609375e-06} +{"step": 2251, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.6443227529525757, 2.941293954849243, 0.28467273712158203], "desired_xyz": [1.6443288698586302, 2.941297225515317, 0.28465421075999037], "error_m": 1.9782312050741375e-05} +{"step": 2251, "event": "eef_target", "arm": "right", "body_xyz": [0.47667181671911457, -0.2822863271389497, 0.254441464906934], "world_xyz": [1.6443288698586302, 2.941297225515317, 0.2596542107599902], "held": {"left": null, "right": null}} +{"step": 2251, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": false} +{"step": 2251, "event": "self_collision_guard", "rejected_self_collision": 12, "rejected_held_clearance": 0, "worst_rejected_pair": [["base_link", "left_gripper_finger_link1"], 0.014781347254202168], "default_limit_m": 0.01, "accepted": false, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2251, "event": "actions_rejected", "start": 2251, "end": 2251, "reason": "ik_infeasible:right:[ 0.477 -0.282 0.254]"} +{"step": 2251, "event": "primitive_failure", "operation": "pick_bin", "reason": "ik_infeasible:right:[ 0.477 -0.282 0.254]", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..04d97e59d885ee81011af5ec047f73b9b1b767bb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2251 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 289, in pick\n self.descend_and_close(obj, arm, target[:3, 3], orientation, ref)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 349, in descend_and_close\n self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref[\"q\"])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 378, in _eef_world_once\n raise RecoveryFailure(f\"ik_infeasible:{arm}:{np.round(xyz,3)}\")\ntask01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.477 -0.282 0.254]\n", + "steps": 2251, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": true, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 2.0695815086364746, + 2.5824167728424072, + 0.28596824407577515 + ], + [ + 0.9406485557556152, + 0.24290388822555542, + 0.2153848260641098, + -0.09893208742141724 + ] + ], + "right": [ + [ + 1.6443227529525757, + 2.941293954849243, + 0.28467273712158203 + ], + [ + 0.9354608058929443, + 0.22357676923274994, + -0.27282530069351196, + -0.02220037393271923 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 2.4820752143859863, + 4.816221237182617, + 0.06461400538682938 + ], + "can__of__soda.n.01_1": [ + 1.6654062271118164, + 2.8344433307647705, + 0.07195369154214859 + ], + "can__of__soda.n.01_2": [ + 4.424424171447754, + 6.100356578826904, + 0.07145716995000839 + ], + "ashcan.n.01_1": [ + 1.644110918045044, + 2.8334505558013916, + 0.13483616709709167 + ] + }, + "robot_pose": [ + [ + 2.194798469543457, + 2.8786733150482178, + 0.005285352468490601 + ], + [ + 7.7100470662117e-05, + 2.3750446416670457e-05, + -0.9778904318809509, + 0.20911793410778046 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 611 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f1bd30d876cc5df8825e1ac3a95b5dcfab89a696 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5a842e5c0815f364e8c303590c7f77067dde36e2e2f9eeed7c7f2865b438ca2 +size 437164 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..1912afcc9bff58c253abe9085f2e33a0b01f8b0f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/run.log @@ -0,0 +1,653 @@ +RECOVERY building environment +[00:00:03.443] [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_112433.log +[0.035s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.085s] [ext: omni.metrics.core-0.0.3] startup +[0.085s] [ext: omni.client.lib-1.1.0] startup +[0.094s] [ext: omni.blobkey-1.1.2] startup +[0.095s] [ext: omni.stats-1.0.1] startup +[0.095s] [ext: omni.datastore-0.0.0] startup +[0.099s] [ext: omni.client-1.3.0] startup +[0.102s] [ext: omni.ujitso.default-1.0.0] startup +[0.103s] [ext: omni.hsscclient-1.1.2] startup +[0.134s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.136s] [ext: omni.assets.plugins-0.0.0] startup +[0.137s] [ext: omni.gpu_foundation-0.0.0] startup +[0.142s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T03:24:33Z [128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:33Z [128ms] [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) +[0.143s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T03:24:33Z [156ms] [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: 47059 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T03:24:34Z [732ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.868s] [ext: omni.materialx.libs-1.0.7] startup +[0.873s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.874s] [ext: omni.kit.test-2.0.1] startup +[0.888s] [ext: omni.usd.config-1.0.6] startup +[0.889s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.890s] [ext: omni.usd.libs-1.0.1] startup +[0.994s] [ext: omni.kit.telemetry-0.5.2] startup +[1.015s] [ext: omni.mdl-56.0.3] startup +[1.031s] [ext: omni.iray.libs-0.0.0] startup +[1.037s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.038s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.129s] [ext: omni.kit.pipapi-0.0.0] startup +[1.130s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T03:24:34Z [1,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,116ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.132s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T03:24:34Z [1,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-09-21T03:24:34Z [1,150ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,150ms] [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) +[1.166s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.168s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T03:24:34Z [1,156ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,156ms] [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) +2026-09-21T03:24:34Z [1,157ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,157ms] [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) +2026-09-21T03:24:34Z [1,158ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:24:34Z [1,158ms] [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) +[1.220s] [ext: omni.ui-2.27.1] startup +[1.227s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.227s] [ext: carb.audio-0.1.0] startup +[1.231s] [ext: omni.uiaudio-1.0.0] startup +[1.232s] [ext: omni.kit.uiapp-0.0.0] startup +[1.232s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.234s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.239s] [ext: omni.usd_resolver-1.0.0] startup +[1.243s] [ext: omni.usd.core-1.5.3] startup +[1.246s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.264s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.283s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.285s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.287s] [ext: omni.kit.actions.core-1.0.0] startup +[1.289s] [ext: omni.activity.core-1.0.3] startup +[1.290s] [ext: omni.kit.commands-1.4.10] startup +[1.292s] [ext: usdrt.scenegraph-7.6.1] startup +[1.317s] [ext: omni.resourcemonitor-107.0.1] startup +[1.318s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.319s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.327s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.327s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.329s] [ext: omni.graph.exec-0.9.6] startup +[1.330s] [ext: omni.timeline-1.0.14] startup +[1.331s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.332s] [ext: omni.kit.exec.core-0.13.4] startup +[1.334s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.340s] [ext: omni.usd-1.13.10] startup +[1.365s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.376s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.376s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.382s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.389s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.395s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.395s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.396s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.422s] [ext: omni.inspect-1.0.2] startup +[1.423s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.424s] [ext: omni.graph.core-2.184.5] startup +[1.426s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.427s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.427s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.435s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.438s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.438s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.441s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.442s] [ext: omni.kit.clipboard-1.0.5] startup +[1.442s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.448s] [ext: omni.ui.scene-1.11.5] startup +[1.451s] [ext: omni.index.libs-380600.8087.0] startup +[1.451s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.458s] [ext: omni.index-1.0.1] startup +[1.459s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.460s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.462s] [ext: omni.volume-0.5.2] startup +[1.464s] [ext: omni.ujitso.client-0.0.0] startup +[1.464s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.465s] [ext: omni.kit.menu.core-1.1.2] startup +[1.465s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T03:24:35Z [1,477ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.522s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.523s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.527s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.528s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.535s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.543s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.548s] [ext: omni.kit.context_menu-1.8.6] startup +[1.549s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.552s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.552s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.553s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.560s] [ext: omni.kit.material.library-2.0.7] startup +[1.563s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.563s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.566s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.579s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.579s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.580s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.580s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.581s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.581s] [ext: omni.kit.browser.core-2.3.13] startup +[1.584s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.585s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.593s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.595s] [ext: omni.kit.window.file-2.0.5] startup +[1.597s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.598s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.598s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.600s] [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 +[1.617s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.624s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.625s] [ext: omni.graph.action_core-1.1.7] startup +[1.627s] [ext: omni.graph-1.141.2] startup +[1.654s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.655s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.658s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.663s] [ext: omni.kit.window.stage-2.6.1] startup +[1.670s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.670s] [ext: omni.graph.action-1.130.0] startup +[1.671s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.672s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.674s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.675s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.678s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.688s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.700s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.701s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.702s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.711s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.712s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.714s] [ext: omni.kit.window.property-1.12.1] startup +[1.716s] [ext: omni.ui_query-1.1.8] startup +[1.717s] [ext: omni.kit.property.usd-4.5.12] startup +[1.725s] [ext: omni.kit.menu.create-2.0.1] startup +[1.726s] [ext: isaacsim.core.version-2.0.6] startup +[1.727s] [ext: omni.kit.ui_test-1.3.7] startup +[1.729s] [ext: omni.kit.scripting-107.3.2] startup +[1.732s] [ext: omni.convexdecomposition-107.3.26] startup +[1.736s] [ext: isaacsim.storage.native-1.5.1] startup +[1.737s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.747s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.752s] [ext: omni.kvdb-107.3.26] startup +[1.754s] [ext: omni.usdphysics-107.3.26] startup +[1.758s] [ext: omni.physx.foundation-107.3.26] startup +[1.760s] [ext: omni.localcache-107.3.26] startup +[1.762s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.768s] [ext: omni.physx.cooking-107.3.26] startup +[1.773s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.775s] [ext: omni.physx-107.3.26] startup +[1.787s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.794s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.796s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.801s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.809s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.811s] [ext: isaacsim.gui.components-1.2.1] startup +[1.814s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.818s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.875s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.878s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.887s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.891s] [ext: omni.fabric.commands-1.1.6] startup +[1.893s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.894s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.895s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.903s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.904s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.904s] [ext: omni.debugdraw-0.1.4] startup +[1.908s] [ext: omni.physics-107.3.26] startup +[1.910s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.926s] [ext: omni.physx.commands-107.3.26] startup +[1.930s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.932s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.934s] [ext: omni.physx.ui-107.3.26] startup +[1.955s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.959s] [ext: omni.physx.supportui-107.3.26] startup +[1.968s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.969s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.970s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.973s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T03:24:35Z [1,969ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.984s] [ext: omni.physics.tensors-107.3.26] startup +[1.987s] [ext: omni.warp.core-1.8.2] startup +[2.093s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.095s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:24:35Z [2,085ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.100s] [ext: omni.physx.tensors-107.3.26] startup +[2.105s] [ext: isaacsim.core.utils-3.5.1] startup +[2.108s] [ext: omni.graph.image.core-0.6.1] startup +[2.110s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.183s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.184s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.186s] [ext: isaacsim.core.prims-0.6.1] startup +[2.201s] [ext: omni.syntheticdata-0.6.13] startup +[2.210s] [ext: isaacsim.core.api-4.8.0] startup +[2.222s] [ext: omni.videoencoding-0.1.2] startup +[2.225s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.226s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.230s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.231s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.231s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.234s] [ext: omni.graph.nodes-1.170.10] startup +[2.243s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.246s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.249s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:24:35Z [2,235ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.250s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.255s] [ext: omni.warp-1.8.2] startup +[2.262s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.277s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.280s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.289s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.340s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:24:36Z [2,357ms] [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 +2026-09-21T03:24:36Z [2,476ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:24:36Z [2,476ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:24:36Z [2,476ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.495s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.499s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.505s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.521s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:24:36Z [2,511ms] [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. +[2.528s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.546s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.617s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.676s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.704s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.749s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:24:36Z [2,739ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.765s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.772s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:24:36Z [2,809ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.834s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:24:36Z [2,837ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.855s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.912s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:24:36Z [2,899ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:24:36Z [2,899ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:24:36Z [2,915ms] [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. +[2.931s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.943s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:24:36Z [2,929ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.944s] [ext: omni.kit.selection-0.1.6] startup +[2.946s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.955s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:24:36Z [2,942ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,942ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,942ms] [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. +2026-09-21T03:24:36Z [2,945ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,945ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,945ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,945ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,945ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,946ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:24:36Z [2,946ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.961s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.972s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.980s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.989s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:24:36Z [2,976ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.991s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.997s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,985ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,986ms] [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. +2026-09-21T03:24:36Z [2,987ms] [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. +[3.002s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:24:36Z [2,987ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.004s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:24:36Z [2,991ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:24:36Z [2,992ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.007s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:24:36Z [2,994ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.011s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:24:36Z [2,999ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.014s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.021s] [ext: omni.isaac.utils-2.0.6] startup +[3.022s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.033s] [ext: isaacsim.app.about-2.0.11] startup +[3.040s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:24:36Z [3,026ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.042s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.043s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:24:36Z [3,031ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:24:36Z [3,032ms] [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. +2026-09-21T03:24:36Z [3,032ms] [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. +2026-09-21T03:24:36Z [3,033ms] [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. +2026-09-21T03:24:36Z [3,033ms] [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. +2026-09-21T03:24:36Z [3,033ms] [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. +2026-09-21T03:24:36Z [3,034ms] [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. +2026-09-21T03:24:36Z [3,034ms] [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. +2026-09-21T03:24:36Z [3,034ms] [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. +2026-09-21T03:24:36Z [3,034ms] [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. +2026-09-21T03:24:36Z [3,035ms] [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. +2026-09-21T03:24:36Z [3,037ms] [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. +[3.052s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:24:36Z [3,044ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:24:36Z [3,045ms] [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. +[3.061s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.074s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:24:36Z [3,060ms] [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. +[3.075s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.092s] [ext: omni.kit.property.audio-1.0.16] startup +[3.092s] [ext: omni.kit.property.camera-1.0.10] startup +[3.094s] [ext: omni.sensors.net-1.0.0] startup +[3.096s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.100s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.102s] [ext: omni.kit.property.light-1.0.12] startup +[3.172s] [ext: omni.kit.property.material-1.11.9] startup +[3.176s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.178s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.180s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.184s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.191s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.194s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.197s] [ext: omni.kit.property.render-1.2.1] startup +[3.199s] [ext: omni.kit.property.transform-1.5.13] startup +[3.201s] [ext: isaacsim.gui.property-1.1.3] startup +[3.203s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.208s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.212s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.220s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.223s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.225s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:24:36Z [3,210ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:24:36Z [3,210ms] [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. +[3.225s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:24:36Z [3,212ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:24:36Z [3,212ms] [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. +[3.227s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.240s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:24:36Z [3,226ms] [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. +2026-09-21T03:24:36Z [3,226ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:24:36Z [3,226ms] [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. +2026-09-21T03:24:36Z [3,226ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,228ms] [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. +2026-09-21T03:24:36Z [3,229ms] [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. +[3.244s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:24:36Z [3,230ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.245s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.254s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.259s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.262s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.264s] [ext: omni.ocio-0.1.1] startup +[3.267s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.274s] [ext: omni.kit.window.console-1.1.4] startup +[3.278s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.285s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:24:37Z [3,270ms] [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. +[3.285s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.290s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.294s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.302s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:24:37Z [3,287ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.302s] [ext: semantics.schema.editor-2.0.2] startup +[3.306s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.307s] [ext: semantics.schema.property-2.0.1] startup +[3.308s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:24:37Z [3,294ms] [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. +2026-09-21T03:24:37Z [3,294ms] [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. +2026-09-21T03:24:37Z [3,294ms] [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. +[3.309s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:24:37Z [3,296ms] [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. +2026-09-21T03:24:37Z [3,296ms] [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. +2026-09-21T03:24:37Z [3,296ms] [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. +2026-09-21T03:24:37Z [3,296ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.311s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.319s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.324s] [ext: omni.kit.menu.common-2.0.1] startup +[3.326s] [ext: isaacsim.exp.base-5.1.0] startup +[3.327s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.327s] Simulation App Starting +2026-09-21T03:24:37Z [3,604ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.659s] app ready +[5.924s] Simulation App Startup Complete +[6.235s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:24:40Z [6,368ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:24:40Z [7,217ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.721] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.823] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:25:34Z [60,969ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:37Z [63,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,374ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,374ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,559ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,632ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,632ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,633ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,707ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,707ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,747ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,748ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:37Z [63,754ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,501ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,502ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,502ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,544ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,544ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,567ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,574ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,582ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,590ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,591ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,598ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,599ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,769ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [64,770ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,049ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,050ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,091ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,091ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,091ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,091ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:25:38Z [65,198ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:25:39Z [66,158ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:09.937] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:09.976] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:25:48Z [74,391ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:18.656] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:18.658] [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. +2026-09-21T03:25:48Z [75,186ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:48Z [75,187ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:48Z [75,188ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:48Z [75,189ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:25:51Z [78,005ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:25:53Z [80,097ms] [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 +2026-09-21T03:25:56Z [83,112ms] [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 +2026-09-21T03:27:10Z [157,131ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': None} +RECOVERY progress 960 release_into_grounded_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1080 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1200 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1320 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1560 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1680 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1800 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1920 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2040 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 289, in pick + self.descend_and_close(obj, arm, target[:3, 3], orientation, ref) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 349, in descend_and_close + self.r.eef_world(arm, waypoint, orientation, steps=duration, reference_q=ref["q"]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 121, in eef_world + return self._eef_cartesian(arm, xyz, quat, steps, reference_q) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 145, in _eef_cartesian + self._eef_world_once(arm, start + alpha * (goal - start), target_q, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 378, in _eef_world_once + raise RecoveryFailure(f"ik_infeasible:{arm}:{np.round(xyz,3)}") +task01_recovery.control.RecoveryFailure: ik_infeasible:right:[ 0.477 -0.282 0.254] + +2026-09-21T03:34:38Z [604,452ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:34:38Z [604,452ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:34:38Z [604,452ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[604.567s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..0f23913acd5af25e0a98afa8810fa5018f539375 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68e7ef49d04a8dcbf2fa589afa52c8491a80b1ac9fe114eed75780bfbd388fcf +size 2379 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..468146860de31cee0a7b1ab625ebac6402701e68 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23c116eecb096e1b5f2dd1289fbf48fb6d3f94eeec0bd931b650434113609511 +size 35137638 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efea6891515816c9cc9f0a47b1d73c86d3f83725 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e82a7690b3ecdd068d37f3c643d5cb834079fc2dc2700227fb126190a061aa3a +size 4764942 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/case.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe1e11f5b5c6f5ca36b99b0ddb05df71246a93b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017320-f001348", + "kind": "vla", + "episode_id": "00017320", + "instance_id": 732, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017320.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017320.json", + "frame": 1348, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 1348, + 2569 + ], + "reason": "At f1348 left arm holds can_of_soda_115 (clear of floor since f1347) and right arm is free; trash_can_116 still on kitchen floor. Robot instead walked to can_of_soda_114 and grasped it with the right arm (IsGrasping(right, can_114) True at f2569), loading both hands and making task completion impossible. Picking up trash_can_116 with the free right arm at f1348 was the last viable recovery point before both arms were committed." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..e790f6c59db6c4856cc769024dbbb345f57300d4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f001348/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017320-f001348", + "episode_id": "00017320", + "instance_id": 732, + "start_type": "judgement_seed", + "source_frame": 1348, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:36:10+00:00", + "success": false, + "status": "error", + "error": "ik_infeasible:right:[ 0.477 -0.282 0.254]", + "teacher_steps": 2251, + "dataset_frames": 2251, + "dataset_passed": true, + "supervised_frames": 1040, + "dataset_root": "runs/vla-episode_00017320-f001348/attempt_001/dataset", + "video": "runs/vla-episode_00017320-f001348/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": "can_of_soda_115", + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 90 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2444cafb3c24d5b5fe518d6e65866c0ce087eb8a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0528b70f71974fb0c019851127512ad3745586c9863d42c22e5b6436c2b767e +size 2004376 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6493134844353a01243b54e8a7850d4d7e4aaf1e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a9d617292c7c0b4448fdafa906093ab189b3c5464a8c2bd91ebb9476ab4aa71 +size 130391 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/info.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b851ce63096e8018f3e33f5b37de307988c0f71d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/dataset/meta/info.json @@ -0,0 +1,317 @@ +{ + 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No state changes after f3895; 22 detected pauses totalling >180 s; swept head and both wrists at stride ~750 f3900\u2013f10525, no scene change." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9144a7e2d6555e0b83400a5a9d29816fb21d8058 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/events.jsonl @@ -0,0 +1,542 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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"allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3583, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3602, "event": "joint_tracking", "max_error_rad": 0.07597267627716064} +{"step": 3610, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.763562798500061, 2.63879132270813, 0.20488819479942322], "desired_xyz": [1.7802604505132198, 2.6618417278556334, 0.18433360424499257], "error_m": 0.03510874468101777} +{"step": 3610, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": 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"held_worst_rejected_m": null, "base_box_body": null} +{"step": 3698, "event": "joint_tracking", "max_error_rad": 0.12894439697265625} +{"step": 3706, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.7645536661148071, 2.622041702270508, 0.1711210459470749], "desired_xyz": [1.792835326444864, 2.660825414066233, 0.13589011495081174], "error_m": 0.05954197771775833} +{"step": 3706, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/trash_can_116/base_link"}], "actual_q": 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0.019688321325114225} +{"step": 3759, "event": "eef_target", "arm": "right", "body_xyz": [0.5762195126215108, -0.2365696990819175, 0.1010609242598924], "world_xyz": [1.786013432928741, 2.6469420214032517, 0.10625612754201576], "held": {"left": null, "right": null}} +{"step": 3759, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 3759, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 3782, "event": "joint_tracking", "max_error_rad": 0.1541285514831543} +{"step": 3790, "event": "eef_tracking", "arm": "right", "actual_xyz": [1.7544760704040527, 2.601447820663452, 0.15065205097198486], "desired_xyz": [1.786013432928741, 2.6469420214032517, 0.10625612754201576], "error_m": 0.07096002785488792} +{"step": 3790, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link1", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_link", "body1": "/World/scene_0/trash_can_116/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}], "actual_q": [-4.038263320922852, -1.237306833267212, 0.021977940574288368, -0.009755945764482021, 0.002097506308928132, -1.2226353883743286, 1.6365081071853638, -2.1310055255889893, -1.8308351039886475, 0.12079320102930069, -0.13408492505550385, -0.35285720229148865, 0.5363856554031372, 0.16127099096775055, -0.17259187996387482, -0.09520731121301651, -1.1155316829681396, -1.9897078275680542, 0.462861031293869, 0.24959439039230347, 0.8838021755218506, 0.5236455798149109, -1.4671430587768555, -0.13099907338619232, 0.04999930039048195, 0.0499999076128006, 3.7231964142847573e-06, 0.0]} +{"step": 3790, "event": "actions_rejected", "start": 3736, "end": 3790, "reason": "eef_execution_blocked"} +{"step": 3790, "event": "primitive_failure", "operation": "pick_bin", "reason": "physical_grasp_not_established", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..d7f31e24bc557ba9b2e7eabd42768603006a87af --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/3790 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 315, in pick\n raise RecoveryFailure(\"physical_grasp_not_established\")\ntask01_recovery.control.RecoveryFailure: physical_grasp_not_established\n", + "steps": 3790, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": true, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 2.3579232692718506, + 2.7976789474487305, + 0.325927734375 + ], + [ + 0.3931276500225067, + 0.6858999729156494, + -0.01185983419418335, + -0.6122509241104126 + ] + ], + "right": [ + [ + 1.7544760704040527, + 2.601447820663452, + 0.15065205097198486 + ], + [ + 0.7987518906593323, + 0.5477851629257202, + -0.2449621707201004, + 0.04382319375872612 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 2.4820735454559326, + 4.816224098205566, + 0.06461399793624878 + ], + "can__of__soda.n.01_1": [ + 1.8671618700027466, + 2.653223991394043, + 0.04128052294254303 + ], + "can__of__soda.n.01_2": [ + 1.3183892965316772, + 2.5161538124084473, + 0.03518163040280342 + ], + "ashcan.n.01_1": [ + 1.8493903875350952, + 2.6556100845336914, + 0.09301808476448059 + ] + }, + "robot_pose": [ + [ + 2.1993439197540283, + 3.112945079803467, + 0.005285203456878662 + ], + [ + 6.159581243991852e-05, + 5.266039806883782e-05, + -0.8154221773147583, + 0.5788667798042297 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 841 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5d272a654d964255a6ed547138b4f9b635da4b27 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab7bc5fc3d3fc5693f4887e62db7efe27f5fc92dc842162b0631bf5a5e8c0234 +size 459139 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..b59af2310504588ea273d06f214c659067225968 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/run.log @@ -0,0 +1,659 @@ +RECOVERY building environment +[00:00:03.652] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260922_071303.log +[0.055s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.104s] [ext: omni.metrics.core-0.0.3] startup +[0.104s] [ext: omni.client.lib-1.1.0] startup +[0.114s] [ext: omni.blobkey-1.1.2] startup +[0.114s] [ext: omni.stats-1.0.1] startup +[0.115s] [ext: omni.datastore-0.0.0] startup +[0.119s] [ext: omni.client-1.3.0] startup +[0.122s] [ext: omni.ujitso.default-1.0.0] startup +[0.124s] [ext: omni.hsscclient-1.1.2] startup +[0.172s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.174s] [ext: omni.assets.plugins-0.0.0] startup +[0.175s] [ext: omni.gpu_foundation-0.0.0] startup +[0.181s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T23:13:04Z [148ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:04Z [148ms] [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) +[0.182s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T23:13:04Z [173ms] [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: 48862 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T23:13:04Z [700ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.860s] [ext: omni.materialx.libs-1.0.7] startup +[0.875s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.876s] [ext: omni.kit.test-2.0.1] startup +[0.890s] [ext: omni.usd.config-1.0.6] startup +[0.892s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.893s] [ext: omni.usd.libs-1.0.1] startup +[0.993s] [ext: omni.kit.telemetry-0.5.2] startup +[1.015s] [ext: omni.mdl-56.0.3] startup +[1.031s] [ext: omni.iray.libs-0.0.0] startup +[1.038s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.040s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.108s] [ext: omni.kit.pipapi-0.0.0] startup +[1.109s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T23:13:05Z [1,076ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,076ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.111s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T23:13:05Z [1,094ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,094ms] [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) +2026-09-21T23:13:05Z [1,100ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,100ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.135s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.136s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T23:13:05Z [1,105ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,105ms] [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) +2026-09-21T23:13:05Z [1,106ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,106ms] [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) +2026-09-21T23:13:05Z [1,107ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:13:05Z [1,107ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.179s] [ext: omni.ui-2.27.1] startup +[1.186s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.186s] [ext: carb.audio-0.1.0] startup +[1.190s] [ext: omni.uiaudio-1.0.0] startup +[1.190s] [ext: omni.kit.uiapp-0.0.0] startup +[1.190s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.192s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.195s] [ext: omni.usd_resolver-1.0.0] startup +[1.199s] [ext: omni.usd.core-1.5.3] startup +[1.202s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.219s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.238s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.240s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.242s] [ext: omni.kit.actions.core-1.0.0] startup +[1.244s] [ext: omni.activity.core-1.0.3] startup +[1.245s] [ext: omni.kit.commands-1.4.10] startup +[1.247s] [ext: usdrt.scenegraph-7.6.1] startup +[1.273s] [ext: omni.resourcemonitor-107.0.1] startup +[1.274s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.275s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.283s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.283s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.286s] [ext: omni.graph.exec-0.9.6] startup +[1.286s] [ext: omni.timeline-1.0.14] startup +[1.287s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.288s] [ext: omni.kit.exec.core-0.13.4] startup +[1.290s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.295s] [ext: omni.usd-1.13.10] startup +[1.316s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.325s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.325s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.331s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.338s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.342s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.342s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.343s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.367s] [ext: omni.inspect-1.0.2] startup +[1.367s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.368s] [ext: omni.graph.core-2.184.5] startup +[1.371s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.372s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.372s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.377s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.381s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.381s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.384s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.385s] [ext: omni.kit.clipboard-1.0.5] startup +[1.385s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.391s] [ext: omni.ui.scene-1.11.5] startup +[1.395s] [ext: omni.index.libs-380600.8087.0] startup +[1.395s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.400s] [ext: omni.index-1.0.1] startup +[1.400s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.401s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.403s] [ext: omni.volume-0.5.2] startup +[1.405s] [ext: omni.ujitso.client-0.0.0] startup +[1.406s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.407s] [ext: omni.kit.menu.core-1.1.2] startup +[1.407s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T23:13:05Z [1,391ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.444s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.444s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.447s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.448s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.451s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.457s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.461s] [ext: omni.kit.context_menu-1.8.6] startup +[1.462s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.464s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.464s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.466s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.471s] [ext: omni.kit.material.library-2.0.7] startup +[1.474s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.474s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.477s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.488s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.488s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.489s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.489s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.489s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.490s] [ext: omni.kit.browser.core-2.3.13] startup +[1.492s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.492s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.498s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.500s] [ext: omni.kit.window.file-2.0.5] startup +[1.502s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.502s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.503s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.504s] [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 +[1.518s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.524s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.525s] [ext: omni.graph.action_core-1.1.7] startup +[1.526s] [ext: omni.graph-1.141.2] startup +[1.550s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.551s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.554s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.559s] [ext: omni.kit.window.stage-2.6.1] startup +[1.565s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.565s] [ext: omni.graph.action-1.130.0] startup +[1.566s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.567s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.570s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.570s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.575s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.586s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.591s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.592s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.593s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.600s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.601s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.602s] [ext: omni.kit.window.property-1.12.1] startup +[1.604s] [ext: omni.ui_query-1.1.8] startup +[1.605s] [ext: omni.kit.property.usd-4.5.12] startup +[1.611s] [ext: omni.kit.menu.create-2.0.1] startup +[1.612s] [ext: isaacsim.core.version-2.0.6] startup +[1.613s] [ext: omni.kit.ui_test-1.3.7] startup +[1.614s] [ext: omni.kit.scripting-107.3.2] startup +[1.616s] [ext: omni.convexdecomposition-107.3.26] startup +[1.619s] [ext: isaacsim.storage.native-1.5.1] startup +[1.620s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.626s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.629s] [ext: omni.kvdb-107.3.26] startup +[1.630s] [ext: omni.usdphysics-107.3.26] startup +[1.632s] [ext: omni.physx.foundation-107.3.26] startup +[1.633s] [ext: omni.localcache-107.3.26] startup +[1.634s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.638s] [ext: omni.physx.cooking-107.3.26] startup +[1.641s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.642s] [ext: omni.physx-107.3.26] startup +[1.650s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.653s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.654s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.657s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.662s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.664s] [ext: isaacsim.gui.components-1.2.1] startup +[1.666s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.668s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.724s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.728s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.733s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.737s] [ext: omni.fabric.commands-1.1.6] startup +[1.739s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.740s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.741s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.748s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.750s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.750s] [ext: omni.debugdraw-0.1.4] startup +[1.753s] [ext: omni.physics-107.3.26] startup +[1.755s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.771s] [ext: omni.physx.commands-107.3.26] startup +[1.775s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.776s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.777s] [ext: omni.physx.ui-107.3.26] startup +[1.797s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.801s] [ext: omni.physx.supportui-107.3.26] startup +[1.809s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.811s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.812s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.815s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T23:13:05Z [1,783ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.817s] [ext: omni.physics.tensors-107.3.26] startup +[1.820s] [ext: omni.warp.core-1.8.2] startup +[1.926s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.927s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T23:13:05Z [1,899ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.933s] [ext: omni.physx.tensors-107.3.26] startup +[1.938s] [ext: isaacsim.core.utils-3.5.1] startup +[1.941s] [ext: omni.graph.image.core-0.6.1] startup +[1.942s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.015s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.017s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.018s] [ext: isaacsim.core.prims-0.6.1] startup +[2.033s] [ext: omni.syntheticdata-0.6.13] startup +[2.044s] [ext: isaacsim.core.api-4.8.0] startup +[2.057s] [ext: omni.videoencoding-0.1.2] startup +[2.060s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.061s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.063s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.063s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.064s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.067s] [ext: omni.graph.nodes-1.170.10] startup +[2.076s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.078s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.081s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T23:13:06Z [2,048ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.082s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.090s] [ext: omni.warp-1.8.2] startup +[2.095s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.107s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.109s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.116s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.142s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T23:13:06Z [2,121ms] [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 +2026-09-21T23:13:06Z [2,238ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T23:13:06Z [2,238ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T23:13:06Z [2,239ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.275s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.278s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.282s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.297s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T23:13:06Z [2,265ms] [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. +[2.299s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.325s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.396s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.467s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.475s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.502s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T23:13:06Z [2,481ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.549s] [ext: isaacsim.cortex.framework-1.0.12] 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. +[2.577s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T23:13:06Z [2,548ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.586s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T23:13:06Z [2,552ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.586s] [ext: omni.anim.curve.core-1.3.1] startup +[2.603s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T23:13:06Z [2,570ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:13:06Z [2,571ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:13:06Z [2,584ms] [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. +[2.619s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.629s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T23:13:06Z [2,596ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.630s] [ext: omni.kit.selection-0.1.6] startup +[2.632s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.638s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T23:13:06Z [2,605ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,605ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,605ms] [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. +2026-09-21T23:13:06Z [2,606ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,606ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,606ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,606ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,607ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,607ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:13:06Z [2,607ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.641s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.652s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.661s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.666s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T23:13:06Z [2,634ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.668s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.678s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T23:13:06Z [2,646ms] [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. +2026-09-21T23:13:06Z [2,646ms] [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. +2026-09-21T23:13:06Z [2,646ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,647ms] [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. +2026-09-21T23:13:06Z [2,648ms] [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. +2026-09-21T23:13:06Z [2,648ms] [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. +2026-09-21T23:13:06Z [2,648ms] [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. +2026-09-21T23:13:06Z [2,648ms] [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. +2026-09-21T23:13:06Z [2,649ms] [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. +2026-09-21T23:13:06Z [2,649ms] [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. +2026-09-21T23:13:06Z [2,649ms] [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. +[2.684s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T23:13:06Z [2,652ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.689s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T23:13:06Z [2,658ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T23:13:06Z [2,659ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.693s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T23:13:06Z [2,660ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.695s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T23:13:06Z [2,664ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.698s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.702s] [ext: omni.isaac.utils-2.0.6] startup +[2.704s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.714s] [ext: isaacsim.app.about-2.0.11] startup +[2.716s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T23:13:06Z [2,683ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.717s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.718s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T23:13:06Z [2,685ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T23:13:06Z [2,686ms] [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. +2026-09-21T23:13:06Z [2,686ms] [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. +2026-09-21T23:13:06Z [2,686ms] [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. +2026-09-21T23:13:06Z [2,686ms] [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. +2026-09-21T23:13:06Z [2,686ms] [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. +2026-09-21T23:13:06Z [2,687ms] [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. +2026-09-21T23:13:06Z [2,687ms] [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. +2026-09-21T23:13:06Z [2,687ms] [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. +2026-09-21T23:13:06Z [2,687ms] [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. +2026-09-21T23:13:06Z [2,688ms] [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. +2026-09-21T23:13:06Z [2,689ms] [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. +[2.723s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T23:13:06Z [2,700ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T23:13:06Z [2,700ms] [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. +[2.734s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.739s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T23:13:06Z [2,706ms] [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. +[2.740s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.751s] [ext: omni.kit.property.audio-1.0.16] startup +[2.752s] [ext: omni.kit.property.camera-1.0.10] startup +[2.753s] [ext: omni.sensors.net-1.0.0] startup +[2.756s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.759s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.762s] [ext: omni.kit.property.light-1.0.12] startup +[2.809s] [ext: omni.kit.property.material-1.11.9] startup +[2.814s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.815s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.817s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.822s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.828s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.832s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.834s] [ext: omni.kit.property.render-1.2.1] startup +[2.835s] [ext: omni.kit.property.transform-1.5.13] startup +[2.838s] [ext: isaacsim.gui.property-1.1.3] startup +[2.839s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.844s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.849s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.857s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.862s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.867s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T23:13:06Z [2,834ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T23:13:06Z [2,834ms] [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. +[2.868s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T23:13:06Z [2,834ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T23:13:06Z [2,835ms] [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. +[2.869s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.879s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T23:13:06Z [2,846ms] [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. +2026-09-21T23:13:06Z [2,846ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T23:13:06Z [2,846ms] [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. +2026-09-21T23:13:06Z [2,846ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,847ms] [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. +2026-09-21T23:13:06Z [2,848ms] [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. +[2.883s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T23:13:06Z [2,851ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.885s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.898s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.901s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.902s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.903s] [ext: omni.ocio-0.1.1] startup +[2.905s] [ext: omni.rtx.window.settings-0.6.19] startup +[2.915s] [ext: omni.kit.window.console-1.1.4] startup +[2.919s] [ext: omni.kit.window.status_bar-0.1.9] startup +[2.923s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T23:13:06Z [2,889ms] [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. +[2.924s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[2.928s] [ext: omni.rtx.settings.core-0.6.5] startup +[2.931s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[2.939s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T23:13:06Z [2,906ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[2.940s] [ext: semantics.schema.editor-2.0.2] startup +[2.944s] [ext: omni.kit.ui.actions-1.0.5] startup +[2.945s] [ext: semantics.schema.property-2.0.1] startup +[2.946s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T23:13:06Z [2,913ms] [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. +2026-09-21T23:13:06Z [2,913ms] [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. +2026-09-21T23:13:06Z [2,914ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly. +[2.948s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T23:13:06Z [2,915ms] [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. +2026-09-21T23:13:06Z [2,915ms] [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. +2026-09-21T23:13:06Z [2,915ms] [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. +2026-09-21T23:13:06Z [2,915ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[2.949s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[2.958s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[2.963s] [ext: omni.kit.menu.common-2.0.1] startup +[2.966s] [ext: isaacsim.exp.base-5.1.0] startup +[2.966s] [ext: omnigibson_5_1_0-3.9.2] startup +[2.967s] Simulation App Starting +2026-09-21T23:13:07Z [3,346ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.420s] app ready +[5.399s] Simulation App Startup Complete +[5.691s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T23:13:09Z [5,788ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T23:13:10Z [6,657ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.377] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.450] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T23:13:58Z [54,539ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:14:00Z [56,488ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T23:14:00Z [56,749ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,749ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,749ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,749ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,750ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,750ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,896ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,897ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,929ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,929ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,959ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [56,989ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:00Z [57,028ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,627ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,653ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,653ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,671ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,675ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,680ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,685ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,685ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,690ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,691ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,696ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,696ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:01Z [57,842ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,134ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,156ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,156ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:14:02Z [58,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:03.077] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:03.115] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T23:14:10Z [66,688ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:11.065] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:11.067] [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. +2026-09-21T23:14:11Z [67,374ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:14:11Z [67,375ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:14:11Z [67,376ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:14:11Z [67,377ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:14:13Z [69,969ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T23:14:17Z [73,213ms] [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 +2026-09-21T23:14:17Z [73,283ms] [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 +2026-09-21T23:14:21Z [77,243ms] [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 +2026-09-21T23:14:21Z [77,308ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +2026-09-21T23:15:25Z [141,166ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_115', 'right': 'can_of_soda_114'} +RECOVERY progress 1200 release_into_grounded_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1800 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1920 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2040 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2160 recover_grasp_from_existing_contact {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2280 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2400 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2520 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2640 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2760 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 2880 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3000 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3120 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3240 clear_failed_grasp_before_navigation {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3360 navigate_to_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3480 grasp_bin {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3600 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 3720 bin_grasp_micro_search {'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 315, in pick + raise RecoveryFailure("physical_grasp_not_established") +task01_recovery.control.RecoveryFailure: physical_grasp_not_established + +2026-09-21T23:26:56Z [832,696ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:26:56Z [832,696ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:26:56Z [832,696ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[832.829s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..7a9ee595a3744a8bcde0d2c5d0f8bbecb5e6a3a1 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6eba616e15e04a6d17966c3d8ab9e312b77f8a7eb1dc9a06ba189d1cf5521bc +size 3918 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b687f0a835beaa12bd812eae4b724e61fd41afc6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be60e59deeccafe948ac02e66fd8273baa1a95a1e3ecc0c84f4d62281d6d638c +size 59185812 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ce6b70d482919d44d81ca759729016ec5a3eae56 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acd40b6160270b462cbfbb54a85bf8931b21f47a4830efd0f00488c04082d040 +size 7871543 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/case.json new file mode 100644 index 0000000000000000000000000000000000000000..e77886448db6eaed7ce8662ab20a5327ef7846fb --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017320-f002570", + "kind": "vla", + "episode_id": "00017320", + "instance_id": 732, + "source_n_steps": 10536, + "seed_rank": 2, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017320.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017320.json", + "frame": 2570, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 2570, + 10535 + ], + "reason": "Both grippers occupied from f2570 to episode end (left: can_115 since f1346, right: can_114 since f2569; no IsGrasping->False for either arm in transitions); no task primitive is executable with both hands full and no trash can in hand. Placing can_114 on the floor frees the right arm as the minimum first recovery step before trash_can_116 can be retrieved. No state changes after f3895; 22 detected pauses totalling >180 s; swept head and both wrists at stride ~750 f3900\u2013f10525, no scene change." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..13788d9addab5cabdd74967739e4dcaffb76d102 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017320-f002570/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017320-f002570", + "episode_id": "00017320", + "instance_id": 732, + "start_type": "judgement_seed", + "source_frame": 2570, + "attempt": "attempt_001", + "completed_at": "2026-09-21T23:29:31+00:00", + "success": false, + "status": "error", + "error": "physical_grasp_not_established", + "teacher_steps": 3790, + "dataset_frames": 3790, + "dataset_passed": true, + "supervised_frames": 1238, + "dataset_root": "runs/vla-episode_00017320-f002570/attempt_001/dataset", + "video": "runs/vla-episode_00017320-f002570/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 1, + "initial_held": { + "left": "can_of_soda_115", + "right": "can_of_soda_114" + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 150 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 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{ + "case_id": "vla-episode_00017330-f002000", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 2000, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 2400 + ], + "reason": "At f2000 the robot has just finished its approach to trash_can_116 (long approach-pause f1305-f1947 has resolved and the base is squared up to the can) and the can is still upright \u2014 the base-collision tip happens between f2100 and f2200. Both hands are empty (no grasp events before f7416 in log). Seed lands before the tip so a fresh attempt can grasp an upright can. Rejected f2100 as too close to the collision." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e46db36554812a054a6c9885291d470fa75c059a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/events.jsonl @@ -0,0 +1,397 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, -0.9294877497864833, 0.31798267671692537, 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"base_box_body": null} +{"step": 2023, "event": "joint_tracking", "max_error_rad": 0.00837618112564087} +{"step": 2023, "event": "eef_tracking", "arm": "right", "actual_xyz": [7.417762756347656, 0.3901192843914032, 0.017302699387073517], "desired_xyz": [7.417352801167123, 0.3902010066519569, -0.008832675211789546], "error_m": 0.026138717397776286} +{"step": 2023, "event": "eef_target", "arm": "right", "body_xyz": [0.46422960131820756, -0.12172445821616318, -0.06711737817204308], "world_xyz": [7.41755777875739, 0.39016014552168016, -0.008264987912358017], "held": {"left": null, "right": null}} +{"step": 2023, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2023, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2038, "event": "joint_tracking", "max_error_rad": 0.008428484201431274} +{"step": 2038, "event": "eef_tracking", "arm": "right", "actual_xyz": [7.418583393096924, 0.3896833062171936, 0.017184555530548096], "desired_xyz": [7.41755777875739, 0.39016014552168016, -0.008264987912358017], "error_m": 0.025474664314728994} +{"step": 2038, "event": "eef_target", "arm": "right", "body_xyz": [0.45856600948858767, -0.1246193517473973, -0.1163507868021116], "world_xyz": [7.417352801167123, 0.3902010066519569, -0.033832675211789565], "held": {"left": null, "right": null}} +{"step": 2038, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2038, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2053, "event": "joint_tracking", "max_error_rad": 0.0073112547397613525} +{"step": 2061, "event": "eef_tracking", "arm": "right", "actual_xyz": [7.419243335723877, 0.3875269889831543, 0.01712392270565033], "desired_xyz": [7.417352801167123, 0.3902010066519569, -0.033832675211789565], "error_m": 0.05106172111007412} +{"step": 2061, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2", "body1": "/World/scene_0/bar_egwapq_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link2", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}], "actual_q": [1.3062310218811035, 0.19224928319454193, 0.05352523550391197, 0.013829782605171204, -0.18136028945446014, -0.2743384838104248, 1.6829862594604492, -1.456966519355774, -1.449507713317871, 0.696045458316803, 0.28443455696105957, -0.383811354637146, -0.15311796963214874, -0.1449720710515976, -0.09541522711515427, -0.44129860401153564, -0.7238627672195435, -0.7982937693595886, -0.16897623240947723, 0.40339675545692444, -0.8728728890419006, -0.8694600462913513, -0.04139089584350586, -0.6226539015769958, 0.04999940097332001, 0.05000000074505806, 0.0, 9.369453619001433e-05]} +{"step": 2061, "event": "actions_rejected", "start": 2023, "end": 2061, "reason": "eef_execution_blocked"} +{"step": 2061, "event": "primitive_failure", "operation": "pick_bin", "reason": "physical_grasp_not_established", "attempt": 2} +{"step": 2061, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[7.466787815093994, 0.8537440299987793, 0.6010377407073975], [0.3657661974430084, 0.894565999507904, 0.24961937963962555, 0.06047257408499718]], "right": [[7.419243335723877, 0.3875269889831543, 0.01712392270565033], [0.42158928513526917, 0.8487806916236877, -0.18189415335655212, 0.26219937205314636]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [3.2550621032714844, 4.15576696395874, 0.07145711779594421], "can__of__soda.n.01_3": [4.721970081329346, 5.015439033508301, 0.06461407989263535], "can__of__soda.n.01_1": [4.661992073059082, 5.886102199554443, 0.0714571624994278], "ashcan.n.01_1": [7.541922092437744, 0.526771605014801, 0.09299712628126144]}, "robot_pose": [[7.243975639343262, 0.8420992493629456, 0.061829984188079834], [-0.007065011188387871, -0.09204857051372528, -0.4601399302482605, 0.8830336332321167]]}} +{"step": 2069, "event": "primitive_start", "operation": "pick_bin", "attempt": 3} +{"step": 2077, "event": "stage", "name": "clear_failed_grasp_before_navigation", "task": {"inside": {"can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[7.466139793395996, 0.8510962724685669, 0.6003039479255676], [0.365841269493103, 0.8939634561538696, 0.2517484724521637, 0.0601034052670002]], "right": [[7.421848773956299, 0.3873554468154907, 0.016962364315986633], [0.4209761619567871, 0.8473958969116211, -0.17885245382785797, 0.2696498930454254]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [3.2550621032714844, 4.15576696395874, 0.07145711779594421], "can__of__soda.n.01_3": [4.721970081329346, 5.015439033508301, 0.06461407989263535], "can__of__soda.n.01_1": [4.661992073059082, 5.886102199554443, 0.0714571624994278], "ashcan.n.01_1": [7.541920185089111, 0.5267634987831116, 0.09299736469984055]}, "robot_pose": [[7.243882179260254, 0.841862678527832, 0.06083416938781738], [-0.004902951419353485, -0.09148740023374557, -0.46039634943008423, 0.8829730153083801]]}} +{"step": 2077, "event": "eef_target", "arm": "right", "body_xyz": [0.4676064926409248, -0.1174352069306758, -0.0764373771109248], "world_xyz": [7.421848773956299, 0.3873554468154907, 0.054462364315986646], "held": {"left": null, "right": null}} +{"step": 2077, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 2077, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 2097, "event": "joint_tracking", "max_error_rad": 0.009217619895935059} +{"step": 2105, "event": "eef_tracking", "arm": "right", "actual_xyz": [7.424745082855225, 0.3883007764816284, 0.017324581742286682], "desired_xyz": [7.421848773956299, 0.3873554468154907, 0.054462364315986646], "error_m": 0.037262543497553806} +{"step": 2105, "event": "blocked_contact_pairs", "arm": "right", "contacts": [{"body0": "/World/scene_0/controllable__r1pro__robot_r1/left_arm_link2", "body1": "/World/scene_0/bar_egwapq_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/wheel_motor_link3", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}, {"body0": "/World/scene_0/controllable__r1pro__robot_r1/right_gripper_finger_link1", "body1": "/World/scene_0/floors_zqjkvm_0/base_link"}], "actual_q": [1.3067580461502075, 0.19158701598644257, 0.03709082677960396, 0.04125647991895676, -0.13781172037124634, -0.2750217914581299, 1.6389788389205933, -1.4582668542861938, -1.4336011409759521, 0.6877304315567017, 0.28425782918930054, -0.3576664626598358, -0.15338537096977234, -0.11257956176996231, -0.09526760131120682, -0.43576034903526306, -0.7238398790359497, -0.787835955619812, -0.16921493411064148, 0.42064550518989563, -0.8728991150856018, -0.8746630549430847, -0.041321367025375366, -0.6235305070877075, 0.04999937862157822, 0.04999997466802597, 0.001993391430005431, 0.05000000074505806]} +{"step": 2105, "event": "actions_rejected", "start": 2077, "end": 2105, "reason": "eef_execution_blocked"} +{"step": 2105, "event": "primitive_failure", "operation": "pick_bin", "reason": "eef_execution_blocked", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..1bbd6a95bbc658fc7abc81a7ad44b31fcca69c28 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/2105 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 235, in pick\n self.r.eef_world(arm, hand[:3, 3] + [0, 0, .15],\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": 2105, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 7.470685005187988, + 0.8314325213432312, + 0.5874245762825012 + ], + [ + 0.3660714626312256, + 0.8940799236297607, + 0.249090313911438, + 0.06757953763008118 + ] + ], + "right": [ + [ + 7.424745082855225, + 0.3883007764816284, + 0.017324581742286682 + ], + [ + 0.4227280616760254, + 0.853427529335022, + -0.16146881878376007, + 0.2586314082145691 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 3.2550621032714844, + 4.15576696395874, + 0.07145711779594421 + ], + "can__of__soda.n.01_3": [ + 4.721970081329346, + 5.015439033508301, + 0.06461407989263535 + ], + "can__of__soda.n.01_1": [ + 4.661992073059082, + 5.886102199554443, + 0.0714571624994278 + ], + "ashcan.n.01_1": [ + 7.541918754577637, + 0.5267557501792908, + 0.09299777448177338 + ] + }, + "robot_pose": [ + [ + 7.244093894958496, + 0.8413580060005188, + 0.04539091885089874 + ], + [ + 0.01079364214092493, + -0.07356870919466019, + -0.46173110604286194, + 0.8838979601860046 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 500 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..07b5ea5ddc3ef90a58615520d894ada14c2e4635 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6dedd259cee1435fec6a80229b765d013d58da2f2a2482f3e7d746f225ae8a4 +size 397079 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..e48c62ed4a96c0225009db08cb021b65c2aa72f8 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/run.log @@ -0,0 +1,649 @@ +RECOVERY building environment +[00:00:05.260] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260920_001218.log +[0.653s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.756s] [ext: omni.metrics.core-0.0.3] startup +[0.756s] [ext: omni.client.lib-1.1.0] startup +[0.767s] [ext: omni.blobkey-1.1.2] startup +[0.768s] [ext: omni.stats-1.0.1] startup +[0.768s] [ext: omni.datastore-0.0.0] startup +[0.773s] [ext: omni.client-1.3.0] startup +[0.776s] [ext: omni.ujitso.default-1.0.0] startup +[0.777s] [ext: omni.hsscclient-1.1.2] startup +[0.814s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.816s] [ext: omni.assets.plugins-0.0.0] startup +[0.818s] [ext: omni.gpu_foundation-0.0.0] startup +[0.828s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-19T16:12:19Z [208ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:19Z [208ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.829s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-19T16:12:19Z [238ms] [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: 46758 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-19T16:12:19Z [760ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.509s] [ext: omni.materialx.libs-1.0.7] startup +[1.523s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.524s] [ext: omni.kit.test-2.0.1] startup +[1.538s] [ext: omni.usd.config-1.0.6] startup +[1.540s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.540s] [ext: omni.usd.libs-1.0.1] startup +[1.646s] [ext: omni.kit.telemetry-0.5.2] startup +[1.668s] [ext: omni.mdl-56.0.3] startup +[1.684s] [ext: omni.iray.libs-0.0.0] startup +[1.691s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.693s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.764s] [ext: omni.kit.pipapi-0.0.0] startup +[1.764s] [ext: omni.appwindow-1.1.10] startup +2026-09-19T16:12:20Z [1,144ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.767s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-19T16:12:20Z [1,159ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,159ms] [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) +2026-09-19T16:12:20Z [1,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,167ms] [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) +[1.790s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.791s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-19T16:12:20Z [1,173ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,173ms] [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) +2026-09-19T16:12:20Z [1,174ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,174ms] [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) +2026-09-19T16:12:20Z [1,175ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:12:20Z [1,175ms] [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) +[1.835s] [ext: omni.ui-2.27.1] startup +[1.841s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.842s] [ext: carb.audio-0.1.0] startup +[1.845s] [ext: omni.uiaudio-1.0.0] startup +[1.846s] [ext: omni.kit.uiapp-0.0.0] startup +[1.846s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.848s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.851s] [ext: omni.usd_resolver-1.0.0] startup +[1.855s] [ext: omni.usd.core-1.5.3] startup +[1.859s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.876s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.896s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.899s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.902s] [ext: omni.kit.actions.core-1.0.0] startup +[1.904s] [ext: omni.activity.core-1.0.3] startup +[1.904s] [ext: omni.kit.commands-1.4.10] startup +[1.907s] [ext: usdrt.scenegraph-7.6.1] startup +[1.933s] [ext: omni.resourcemonitor-107.0.1] startup +[1.935s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.936s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.944s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.945s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.949s] [ext: omni.graph.exec-0.9.6] startup +[1.949s] [ext: omni.timeline-1.0.14] startup +[1.951s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.952s] [ext: omni.kit.exec.core-0.13.4] startup +[1.954s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.961s] [ext: omni.usd-1.13.10] startup +[1.986s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.997s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.997s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.003s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.011s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.016s] [ext: omni.usd.schema.flow-107.1.1] startup +[2.017s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.017s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.043s] [ext: omni.inspect-1.0.2] startup +[2.044s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.045s] [ext: omni.graph.core-2.184.5] startup +[2.048s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.048s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.049s] [ext: omni.anim.graph.schema-107.3.3] startup +[2.055s] [ext: omni.anim.navigation.schema-107.3.3] startup +[2.059s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.059s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.062s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.063s] [ext: omni.kit.clipboard-1.0.5] startup +[2.064s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.071s] [ext: omni.ui.scene-1.11.5] startup +[2.074s] [ext: omni.index.libs-380600.8087.0] startup +[2.075s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.080s] [ext: omni.index-1.0.1] startup +[2.081s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.082s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.083s] [ext: omni.volume-0.5.2] startup +[2.086s] [ext: omni.ujitso.client-0.0.0] startup +[2.086s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.087s] [ext: omni.kit.menu.core-1.1.2] startup +[2.088s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-19T16:12:20Z [1,485ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.136s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.136s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.140s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.141s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.146s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.155s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.160s] [ext: omni.kit.context_menu-1.8.6] startup +[2.162s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.164s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.165s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.166s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.173s] [ext: omni.kit.material.library-2.0.7] startup +[2.177s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.177s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.181s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.193s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[2.194s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.194s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.195s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.195s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.196s] [ext: omni.kit.browser.core-2.3.13] startup +[2.198s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.198s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.205s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.208s] [ext: omni.kit.window.file-2.0.5] startup +[2.210s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.210s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.211s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.212s] [ext: omni.graph.tools-1.79.2] startup +DEBUG:AutoNode:Defining data type 'any' as 'Any' +DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray +DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle' +DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray +DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray +DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray +DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray +DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray +DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray +DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray +DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array +DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array +DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array +DEBUG:AutoNode:Defining data type 'execution' as 'Execution' +DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray +DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array +DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array +DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array +DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray +DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray +DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array +DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array +DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array +DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray +DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array +DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array +DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array +DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array +DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray +DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray +DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray +DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray +DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray +DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray +DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray +DEBUG:AutoNode:Defining data type 'path' as 'Path' +DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray +DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray +DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray +DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray +DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray +DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray +DEBUG:AutoNode:Defining data type 'string' as 'String' +DEBUG:AutoNode:Defining data type 'target' as 'Target' +DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray +DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray +DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray +DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray +DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray +DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray +DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray +DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray +DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray +DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray +DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array +DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray +DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray +DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray +[2.228s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.236s] [ext: omni.kit.usdz_export-1.0.9] startup +[2.237s] [ext: omni.graph.action_core-1.1.7] startup +[2.239s] [ext: omni.graph-1.141.2] startup +[2.265s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[2.266s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[2.269s] [ext: omni.graph.action_nodes-1.50.4] startup +[2.275s] [ext: omni.kit.window.stage-2.6.1] startup +[2.282s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.283s] [ext: omni.graph.action-1.130.0] startup +[2.283s] [ext: omni.kit.menu.stage-1.2.7] startup +[2.285s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.287s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.288s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.291s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.309s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.314s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.315s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.317s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.325s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.326s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.327s] [ext: omni.kit.window.property-1.12.1] startup +[2.329s] [ext: omni.ui_query-1.1.8] startup +[2.330s] [ext: omni.kit.property.usd-4.5.12] startup +[2.338s] [ext: omni.kit.menu.create-2.0.1] startup +[2.340s] [ext: isaacsim.core.version-2.0.6] startup +[2.341s] [ext: omni.kit.ui_test-1.3.7] startup +[2.343s] [ext: omni.kit.scripting-107.3.2] startup +[2.345s] [ext: omni.convexdecomposition-107.3.26] startup +[2.348s] [ext: isaacsim.storage.native-1.5.1] startup +[2.350s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.357s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.362s] [ext: omni.kvdb-107.3.26] startup +[2.364s] [ext: omni.usdphysics-107.3.26] startup +[2.366s] [ext: omni.physx.foundation-107.3.26] startup +[2.368s] [ext: omni.localcache-107.3.26] startup +[2.369s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.374s] [ext: omni.physx.cooking-107.3.26] startup +[2.379s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.381s] [ext: omni.physx-107.3.26] startup +[2.391s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.396s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.398s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.402s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.410s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.412s] [ext: isaacsim.gui.components-1.2.1] startup +[2.415s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.419s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.499s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.506s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.509s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.514s] [ext: omni.fabric.commands-1.1.6] startup +[2.516s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.518s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.519s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.528s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.529s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.530s] [ext: omni.debugdraw-0.1.4] startup +[2.534s] [ext: omni.physics-107.3.26] startup +[2.537s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.566s] [ext: omni.physx.commands-107.3.26] startup +[2.570s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.572s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.574s] [ext: omni.physx.ui-107.3.26] startup +[2.597s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.601s] [ext: omni.physx.supportui-107.3.26] startup +[2.611s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.613s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.614s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.618s] [ext: omni.physics.physx-107.3.26] startup +2026-09-19T16:12:20Z [1,998ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.620s] [ext: omni.physics.tensors-107.3.26] startup +[2.624s] [ext: omni.warp.core-1.8.2] startup +[2.734s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.736s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T16:12:21Z [2,129ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.750s] [ext: omni.physx.tensors-107.3.26] startup +[2.756s] [ext: isaacsim.core.utils-3.5.1] startup +[2.759s] [ext: omni.graph.image.core-0.6.1] startup +[2.761s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.839s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.842s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.843s] [ext: isaacsim.core.prims-0.6.1] startup +[2.859s] [ext: omni.syntheticdata-0.6.13] startup +[2.870s] [ext: isaacsim.core.api-4.8.0] startup +[2.888s] [ext: omni.videoencoding-0.1.2] startup +[2.892s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.894s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.898s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.899s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.899s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.905s] [ext: omni.graph.nodes-1.170.10] startup +[2.916s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.919s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.923s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T16:12:21Z [2,303ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.924s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.934s] [ext: omni.warp-1.8.2] startup +[2.937s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.949s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.957s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.999s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.037s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T16:12:21Z [2,426ms] [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 +2026-09-19T16:12:21Z [2,496ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T16:12:21Z [2,496ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T16:12:21Z [2,496ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.119s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.122s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.127s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.135s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T16:12:21Z [2,516ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly. +[3.137s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.144s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.196s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.229s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.275s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.280s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T16:12:21Z [2,664ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.358s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.372s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T16:12:21Z [2,773ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.400s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T16:12:21Z [2,785ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.406s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.502s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T16:12:21Z [2,882ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:12:21Z [2,883ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:12:21Z [2,901ms] [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. +[3.523s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.534s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T16:12:21Z [2,914ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.535s] [ext: omni.kit.selection-0.1.6] startup +[3.537s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.544s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T16:12:21Z [2,923ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,923ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,923ms] [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. +2026-09-19T16:12:21Z [2,924ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,924ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,924ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,925ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,925ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,926ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:12:21Z [2,926ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.547s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.563s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.582s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.587s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T16:12:21Z [2,967ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.589s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.594s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T16:12:21Z [2,977ms] [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. +2026-09-19T16:12:21Z [2,977ms] [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. +2026-09-19T16:12:21Z [2,978ms] [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. +2026-09-19T16:12:21Z [2,981ms] [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. +2026-09-19T16:12:21Z [2,982ms] [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. +2026-09-19T16:12:21Z [2,982ms] [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. +2026-09-19T16:12:21Z [2,983ms] [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. +2026-09-19T16:12:21Z [2,983ms] [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. +2026-09-19T16:12:21Z [2,984ms] [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. +2026-09-19T16:12:21Z [2,984ms] [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. +2026-09-19T16:12:21Z [2,984ms] [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. +2026-09-19T16:12:21Z [2,986ms] [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. +2026-09-19T16:12:21Z [2,986ms] [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. +2026-09-19T16:12:21Z [2,987ms] [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. +2026-09-19T16:12:21Z [2,987ms] [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. +2026-09-19T16:12:21Z [2,987ms] [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. +[3.609s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T16:12:21Z [2,990ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.612s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T16:12:21Z [2,994ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T16:12:21Z [2,995ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.617s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T16:12:21Z [2,997ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.618s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T16:12:21Z [2,999ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.620s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.626s] [ext: omni.isaac.utils-2.0.6] startup +[3.629s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.642s] [ext: isaacsim.app.about-2.0.11] startup +[3.646s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T16:12:22Z [3,026ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.648s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.649s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T16:12:22Z [3,031ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:12:22Z [3,031ms] [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. +2026-09-19T16:12:22Z [3,031ms] [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. +2026-09-19T16:12:22Z [3,032ms] [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. +2026-09-19T16:12:22Z [3,032ms] [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. +2026-09-19T16:12:22Z [3,032ms] [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. +2026-09-19T16:12:22Z [3,033ms] [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. +2026-09-19T16:12:22Z [3,033ms] [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. +2026-09-19T16:12:22Z [3,033ms] [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. +2026-09-19T16:12:22Z [3,033ms] [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. +2026-09-19T16:12:22Z [3,033ms] [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. +2026-09-19T16:12:22Z [3,035ms] [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. +[3.657s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T16:12:22Z [3,044ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T16:12:22Z [3,045ms] [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. +[3.666s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.679s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T16:12:22Z [3,059ms] [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. +[3.680s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.690s] [ext: omni.kit.property.audio-1.0.16] startup +[3.691s] [ext: omni.kit.property.camera-1.0.10] startup +[3.692s] [ext: omni.sensors.net-1.0.0] startup +[3.695s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.699s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.701s] [ext: omni.kit.property.light-1.0.12] startup +[3.750s] [ext: omni.kit.property.material-1.11.9] startup +[3.754s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.757s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.759s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.766s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.776s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.784s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.789s] [ext: omni.kit.property.render-1.2.1] startup +[3.790s] [ext: omni.kit.property.transform-1.5.13] startup +[3.794s] [ext: isaacsim.gui.property-1.1.3] startup +[3.796s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.804s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.812s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.823s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.830s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.834s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T16:12:22Z [3,213ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T16:12:22Z [3,213ms] [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. +[3.835s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T16:12:22Z [3,214ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T16:12:22Z [3,214ms] [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. +[3.835s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.847s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T16:12:22Z [3,227ms] [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. +2026-09-19T16:12:22Z [3,228ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T16:12:22Z [3,228ms] [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. +2026-09-19T16:12:22Z [3,228ms] [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. +2026-09-19T16:12:22Z [3,228ms] [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. +2026-09-19T16:12:22Z [3,228ms] [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. +2026-09-19T16:12:22Z [3,229ms] [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. +2026-09-19T16:12:22Z [3,229ms] [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. +2026-09-19T16:12:22Z [3,231ms] [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. +2026-09-19T16:12:22Z [3,231ms] [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. +2026-09-19T16:12:22Z [3,231ms] [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. +[3.853s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T16:12:22Z [3,235ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.857s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.868s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.870s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.872s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.874s] [ext: omni.ocio-0.1.1] startup +[3.877s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.893s] [ext: omni.kit.window.console-1.1.4] startup +[3.901s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.905s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T16:12:22Z [3,285ms] [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 +[3.912s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.915s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.925s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T16:12:22Z [3,305ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.926s] [ext: semantics.schema.editor-2.0.2] startup +[3.932s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.933s] [ext: semantics.schema.property-2.0.1] startup +[3.935s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T16:12:22Z [3,315ms] [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. +2026-09-19T16:12:22Z [3,315ms] [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. +2026-09-19T16:12:22Z [3,316ms] [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. +[3.937s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T16:12:22Z [3,318ms] [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. +2026-09-19T16:12:22Z [3,318ms] [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. +2026-09-19T16:12:22Z [3,318ms] [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. +2026-09-19T16:12:22Z [3,318ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.940s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.948s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.959s] [ext: omni.kit.menu.common-2.0.1] startup +[3.961s] [ext: isaacsim.exp.base-5.1.0] startup +[3.962s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.964s] Simulation App Starting +2026-09-19T16:12:22Z [3,474ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T16:12:22Z [3,498ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.160s] app ready +[6.036s] Simulation App Startup Complete +[6.413s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T16:12:24Z [5,891ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T16:12:25Z [6,771ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:12.707] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.789] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T16:13:15Z [56,736ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:13:17Z [58,642ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T16:13:17Z [58,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,987ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:17Z [58,987ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,019ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,019ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,054ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,055ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,090ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,123ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,124ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,159ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,160ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,165ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,834ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,834ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,852ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,852ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,855ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,856ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,861ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,861ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,866ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,871ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,876ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:18Z [59,877ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,017ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,300ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,301ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,301ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,301ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:13:19Z [60,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:07.472] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:07.509] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:13:28Z [69,006ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:15.716] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:15.719] [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. +2026-09-19T16:13:28Z [69,816ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:13:28Z [69,818ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:13:28Z [69,819ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:13:28Z [69,820ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:13:31Z [72,612ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:13:42Z [83,996ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 480 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 720 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 840 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 960 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1080 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': None, 'right': None} +RECOVERY progress 1200 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1320 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1560 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1680 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1800 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 1920 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 235, in pick + self.r.eef_world(arm, hand[:3, 3] + [0, 0, .15], + 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 + +2026-09-19T16:20:27Z [488,550ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:20:27Z [488,550ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:20:27Z [488,550ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[489.265s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..634e0b4e185a34aba9633b1ce571b4ede2f88034 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d949b924d1ef63d737bdc8249a6fcb8000b284d03fb202228a316eadfcf83d77 +size 2233 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5af3cfddbebdfc5ac1ad9526034a58122e7c5d11 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7aa3fd91c48ed4fd1cde577774ee9f553a4231457efb9993534313511102769 +size 32779570 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09d3bad61cac84d987c07dc6f543bdba3f82312e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd21f14e0b0c93a06c967d0f16dda5f976b892718fbd37315dd4582e183b9033 +size 4452966 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..0e37ead371c5ec3f2b3b3273926e6d90de6c5c52 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017330-f002000", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 2000, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 2400 + ], + "reason": "At f2000 the robot has just finished its approach to trash_can_116 (long approach-pause f1305-f1947 has resolved and the base is squared up to the can) and the can is still upright \u2014 the base-collision tip happens between f2100 and f2200. Both hands are empty (no grasp events before f7416 in log). Seed lands before the tip so a fresh attempt can grasp an upright can. Rejected f2100 as too close to the collision." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..117a8ab1b1af861cee8f1623a4615887bc9fa7b3 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017330-f002000", + "episode_id": "00017330", + "instance_id": 733, + "start_type": "judgement_seed", + "source_frame": 2000, + "attempt": "attempt_001", + "completed_at": "2026-09-19T16:22:13+00:00", + "success": false, + "status": "error", + "error": "eef_execution_blocked", + "teacher_steps": 2105, + "dataset_frames": 2105, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00017330-f002000/attempt_001/dataset", + "video": "runs/vla-episode_00017330-f002000/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 100 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..934e4ae892af29d2c6703d889f702334aeb639c1 --- /dev/null +++ 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{ + "case_id": "vla-episode_00017330-f002401", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 2401, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 2401, + 7500 + ], + "reason": "Row's first frame per the ordering rule \u2014 this is where the robot committed to leaving the trash-can vicinity with A undone (f2400 head view shows robot in the kitchen doorway facing the living room). Both hands empty here (first grasp in log is f7416); the correct next action from this restored state is to turn back and pick up trash_can_116, which is now on its side on the kitchen floor. Off-distribution: no demo shows picking up a tipped trash can \u2014 flagged in report." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cb91c05d0744a354ae34e11303f0f3c95155d17 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/events.jsonl @@ -0,0 +1,360 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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"eef_target", "arm": "right", "body_xyz": [0.5474321845048364, -0.2197606856966831, 0.14763032101673215], "world_xyz": [7.337762527209924, 0.22557927309378534, 0.15304233086357294], "held": {"left": null, "right": null}} +{"step": 1930, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 1930, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 1955, "event": "joint_tracking", "max_error_rad": 0.0001443922519683838} +{"step": 1955, "event": "eef_tracking", "arm": "right", "actual_xyz": [7.33206844329834, 0.22589153051376343, 0.1622302234172821], "desired_xyz": [7.337762527209924, 0.22557927309378534, 0.15304233086357294], "error_m": 0.010813762798720915} +{"step": 1985, "event": "primitive_failure", "operation": "pick_bin", "reason": "physical_grasp_not_established", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..f65ec3323c547a6d14fe9fe2b6232808a581d832 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1985 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 315, in pick\n raise RecoveryFailure(\"physical_grasp_not_established\")\ntask01_recovery.control.RecoveryFailure: physical_grasp_not_established\n", + "steps": 1985, + "final_task": { + "inside": { + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 7.608605861663818, + 0.6502665877342224, + 0.4637854993343353 + ], + [ + 0.4736905097961426, + 0.8704553246498108, + -0.03277426213026047, + 0.1298103779554367 + ] + ], + "right": [ + [ + 7.332165241241455, + 0.22588440775871277, + 0.16224443912506104 + ], + [ + 0.49176618456840515, + 0.8319491744041443, + -0.07362888008356094, + 0.2461818903684616 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_1": [ + 4.661997318267822, + 5.886099815368652, + 0.07145722210407257 + ], + "can__of__soda.n.01_3": [ + 4.721969127655029, + 5.015419960021973, + 0.06461402028799057 + ], + "can__of__soda.n.01_2": [ + 3.2550601959228516, + 4.155768871307373, + 0.07145719230175018 + ], + "ashcan.n.01_1": [ + 7.4183573722839355, + 0.2944023311138153, + 0.09302746504545212 + ] + }, + "robot_pose": [ + [ + 7.287045955657959, + 0.813366711139679, + 0.011655300855636597 + ], + [ + 0.009547905996441841, + -0.017115894705057144, + -0.5238169431686401, + 0.8516052961349487 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 581 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b7223fc99639a9af74b69435d48a293516ad4077 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3e5b88d4cd88e55add9063002093f31579c02615ee47d41536e4eaea8d92c09 +size 436481 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..cbc9a1347b4d214066a9927c2b195808342bfe23 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/run.log @@ -0,0 +1,641 @@ +RECOVERY building environment +[00:00:03.570] [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_112603.log +[0.033s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.085s] [ext: omni.metrics.core-0.0.3] startup +[0.086s] [ext: omni.client.lib-1.1.0] startup +[0.094s] [ext: omni.blobkey-1.1.2] startup +[0.094s] [ext: omni.stats-1.0.1] startup +[0.095s] [ext: omni.datastore-0.0.0] startup +[0.098s] [ext: omni.client-1.3.0] startup +[0.101s] [ext: omni.ujitso.default-1.0.0] startup +[0.102s] [ext: omni.hsscclient-1.1.2] startup +[0.106s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.107s] [ext: omni.assets.plugins-0.0.0] startup +[0.108s] [ext: omni.gpu_foundation-0.0.0] startup +[0.112s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T03:26:04Z [101ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [101ms] [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) +[0.113s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T03:26:04Z [122ms] [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: 45916 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T03:26:04Z [636ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.762s] [ext: omni.materialx.libs-1.0.7] startup +[0.767s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.768s] [ext: omni.kit.test-2.0.1] startup +[0.782s] [ext: omni.usd.config-1.0.6] startup +[0.784s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.784s] [ext: omni.usd.libs-1.0.1] startup +[0.875s] [ext: omni.kit.telemetry-0.5.2] startup +[0.893s] [ext: omni.mdl-56.0.3] startup +[0.907s] [ext: omni.iray.libs-0.0.0] startup +[0.911s] [ext: omni.mdl.neuraylib-0.2.12] startup +[0.913s] [ext: omni.kit.usd.mdl-1.1.5] startup +[0.979s] [ext: omni.kit.pipapi-0.0.0] startup +[0.979s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T03:26:04Z [969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [969ms] [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) +[0.982s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T03:26:04Z [1,001ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [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) +2026-09-21T03:26:04Z [1,009ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [1,009ms] [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) +[1.022s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.024s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T03:26:04Z [1,014ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [1,014ms] [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) +2026-09-21T03:26:04Z [1,015ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [1,015ms] [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) +2026-09-21T03:26:04Z [1,016ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:26:04Z [1,016ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.064s] [ext: omni.ui-2.27.1] startup +[1.070s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.071s] [ext: carb.audio-0.1.0] startup +[1.074s] [ext: omni.uiaudio-1.0.0] startup +[1.075s] [ext: omni.kit.uiapp-0.0.0] startup +[1.075s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.077s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.080s] [ext: omni.usd_resolver-1.0.0] startup +[1.083s] [ext: omni.usd.core-1.5.3] startup +[1.086s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.102s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.120s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.123s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.125s] [ext: omni.kit.actions.core-1.0.0] startup +[1.127s] [ext: omni.activity.core-1.0.3] startup +[1.127s] [ext: omni.kit.commands-1.4.10] startup +[1.129s] [ext: usdrt.scenegraph-7.6.1] startup +[1.153s] [ext: omni.resourcemonitor-107.0.1] startup +[1.154s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.155s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.162s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.162s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.165s] [ext: omni.graph.exec-0.9.6] startup +[1.165s] [ext: omni.timeline-1.0.14] startup +[1.166s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.167s] [ext: omni.kit.exec.core-0.13.4] startup +[1.168s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.174s] [ext: omni.usd-1.13.10] startup +[1.195s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.204s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.204s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.209s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.216s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.221s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.221s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.221s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.245s] [ext: omni.inspect-1.0.2] startup +[1.246s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.247s] [ext: omni.graph.core-2.184.5] startup +[1.249s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.249s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.250s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.255s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.258s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.259s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.262s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.262s] [ext: omni.kit.clipboard-1.0.5] startup +[1.263s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.269s] [ext: omni.ui.scene-1.11.5] startup +[1.271s] [ext: omni.index.libs-380600.8087.0] startup +[1.271s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.277s] [ext: omni.index-1.0.1] startup +[1.277s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.278s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.280s] [ext: omni.volume-0.5.2] startup +[1.281s] [ext: omni.ujitso.client-0.0.0] startup +[1.282s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.283s] [ext: omni.kit.menu.core-1.1.2] startup +[1.283s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T03:26:05Z [1,287ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.315s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.315s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.318s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.318s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.322s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.328s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.332s] [ext: omni.kit.context_menu-1.8.6] startup +[1.333s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.335s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.336s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.337s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.343s] [ext: omni.kit.material.library-2.0.7] startup +[1.346s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.346s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.349s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.359s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.360s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.360s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.361s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.361s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.362s] [ext: omni.kit.browser.core-2.3.13] startup +[1.364s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.364s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.370s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.372s] [ext: omni.kit.window.file-2.0.5] startup +[1.374s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.374s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.375s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.376s] [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 +[1.391s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.398s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.399s] [ext: omni.graph.action_core-1.1.7] startup +[1.400s] [ext: omni.graph-1.141.2] startup +[1.426s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.427s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.430s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.436s] [ext: omni.kit.window.stage-2.6.1] startup +[1.442s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.443s] [ext: omni.graph.action-1.130.0] startup +[1.444s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.446s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.448s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.449s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.451s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.462s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.472s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.473s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.474s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.482s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.483s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.484s] [ext: omni.kit.window.property-1.12.1] startup +[1.486s] [ext: omni.ui_query-1.1.8] startup +[1.487s] [ext: omni.kit.property.usd-4.5.12] startup +[1.494s] [ext: omni.kit.menu.create-2.0.1] startup +[1.496s] [ext: isaacsim.core.version-2.0.6] startup +[1.497s] [ext: omni.kit.ui_test-1.3.7] startup +[1.499s] [ext: omni.kit.scripting-107.3.2] startup +[1.503s] [ext: omni.convexdecomposition-107.3.26] startup +[1.507s] [ext: isaacsim.storage.native-1.5.1] startup +[1.509s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.514s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.517s] [ext: omni.kvdb-107.3.26] startup +[1.519s] [ext: omni.usdphysics-107.3.26] startup +[1.521s] [ext: omni.physx.foundation-107.3.26] startup +[1.522s] [ext: omni.localcache-107.3.26] startup +[1.523s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.527s] [ext: omni.physx.cooking-107.3.26] startup +[1.530s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.531s] [ext: omni.physx-107.3.26] startup +[1.539s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.543s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.544s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.547s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.552s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.555s] [ext: isaacsim.gui.components-1.2.1] startup +[1.557s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.560s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.617s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.624s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.627s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.631s] [ext: omni.fabric.commands-1.1.6] startup +[1.633s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.634s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.636s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.644s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.644s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.645s] [ext: omni.debugdraw-0.1.4] startup +[1.649s] [ext: omni.physics-107.3.26] startup +[1.652s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.669s] [ext: omni.physx.commands-107.3.26] startup +[1.673s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.675s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.677s] [ext: omni.physx.ui-107.3.26] startup +[1.698s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.704s] [ext: omni.physx.supportui-107.3.26] startup +[1.719s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.721s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.723s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.729s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T03:26:05Z [1,720ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.732s] [ext: omni.physics.tensors-107.3.26] startup +[1.735s] [ext: omni.warp.core-1.8.2] startup +[1.842s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.844s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:26:05Z [1,837ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.849s] [ext: omni.physx.tensors-107.3.26] startup +[1.854s] [ext: isaacsim.core.utils-3.5.1] startup +[1.856s] [ext: omni.graph.image.core-0.6.1] startup +[1.859s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[1.931s] [ext: omni.graph.image.nodes-1.3.1] startup +[1.933s] [ext: omni.kit.stage_templates-2.0.0] startup +[1.934s] [ext: isaacsim.core.prims-0.6.1] startup +[1.949s] [ext: omni.syntheticdata-0.6.13] startup +[1.958s] [ext: isaacsim.core.api-4.8.0] startup +[1.967s] [ext: omni.videoencoding-0.1.2] startup +[1.973s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[1.975s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[1.977s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[1.978s] [ext: isaacsim.simulation_app-2.12.2] startup +[1.979s] [ext: omni.graph.ui_nodes-1.50.5] startup +[1.982s] [ext: omni.graph.nodes-1.170.10] startup +[1.990s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[1.992s] [ext: isaacsim.test.docstring-1.1.0] startup +[1.994s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:26:05Z [1,983ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[1.995s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.000s] [ext: omni.warp-1.8.2] startup +[2.003s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.021s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.025s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.064s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.099s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:26:06Z [2,096ms] [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 +2026-09-21T03:26:06Z [2,154ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:26:06Z [2,154ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:26:06Z [2,154ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.168s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.171s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.175s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.185s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:26:06Z [2,176ms] [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. +[2.189s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.201s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.292s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.414s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.460s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.475s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:26:06Z [2,467ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.485s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.486s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:26:06Z [2,478ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.492s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:26:06Z [2,482ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.493s] [ext: omni.anim.curve.core-1.3.1] startup +[2.512s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:26:06Z [2,503ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:26:06Z [2,503ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:26:06Z [2,515ms] [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. +[2.527s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.536s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:26:06Z [2,525ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.537s] [ext: omni.kit.selection-0.1.6] startup +[2.539s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.543s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:26:06Z [2,533ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,533ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,533ms] [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. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,534ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:26:06Z [2,535ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.547s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.554s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.563s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.569s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:26:06Z [2,559ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.577s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.585s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:26:06Z [2,575ms] [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. +2026-09-21T03:26:06Z [2,576ms] [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. +2026-09-21T03:26:06Z [2,576ms] [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. +2026-09-21T03:26:06Z [2,576ms] [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. +2026-09-21T03:26:06Z [2,577ms] [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. +2026-09-21T03:26:06Z [2,577ms] [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. +2026-09-21T03:26:06Z [2,578ms] [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. +2026-09-21T03:26:06Z [2,578ms] [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. +2026-09-21T03:26:06Z [2,578ms] [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. +2026-09-21T03:26:06Z [2,578ms] [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. +2026-09-21T03:26:06Z [2,581ms] [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. +2026-09-21T03:26:06Z [2,581ms] [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. +2026-09-21T03:26:06Z [2,581ms] [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. +2026-09-21T03:26:06Z [2,583ms] [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. +2026-09-21T03:26:06Z [2,584ms] [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. +2026-09-21T03:26:06Z [2,584ms] [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. +[2.596s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:26:06Z [2,586ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.598s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:26:06Z [2,590ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:26:06Z [2,594ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.606s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:26:06Z [2,595ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.607s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:26:06Z [2,597ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.609s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.614s] [ext: omni.isaac.utils-2.0.6] startup +[2.615s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.621s] [ext: isaacsim.app.about-2.0.11] startup +[2.623s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:26:06Z [2,612ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.624s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.625s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:26:06Z [2,615ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:26:06Z [2,616ms] [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. +2026-09-21T03:26:06Z [2,616ms] [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. +2026-09-21T03:26:06Z [2,616ms] [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. +2026-09-21T03:26:06Z [2,617ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,618ms] [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. +2026-09-21T03:26:06Z [2,619ms] [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. +[2.631s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:26:06Z [2,625ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:26:06Z [2,626ms] [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. +[2.638s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.643s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:26:06Z [2,632ms] [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. +[2.643s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.649s] [ext: omni.kit.property.audio-1.0.16] startup +[2.651s] [ext: omni.kit.property.camera-1.0.10] startup +[2.652s] [ext: omni.sensors.net-1.0.0] startup +[2.654s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.657s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.659s] [ext: omni.kit.property.light-1.0.12] startup +[2.703s] [ext: omni.kit.property.material-1.11.9] startup +[2.708s] [ext: omni.sensors.nv.ids-2.0.0] startup +[2.709s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[2.711s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[2.715s] [ext: omni.hydra.scene_api-0.1.2] startup +[2.721s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[2.724s] [ext: omni.sensors.nv.radar-3.0.0] startup +[2.727s] [ext: omni.kit.property.render-1.2.1] startup +[2.728s] [ext: omni.kit.property.transform-1.5.13] startup +[2.730s] [ext: isaacsim.gui.property-1.1.3] startup +[2.732s] [ext: isaacsim.sensors.physx-2.3.2] startup +[2.737s] [ext: isaacsim.sensors.camera-1.3.6] startup +[2.744s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[2.752s] [ext: isaacsim.core.cloner-1.4.10] startup +[2.756s] [ext: omni.kit.property.bundle-1.4.1] startup +[2.758s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:26:06Z [2,747ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:26:06Z [2,747ms] [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. +[2.759s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:26:06Z [2,749ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:26:06Z [2,749ms] [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. +[2.762s] [ext: isaacsim.replicator.writers-1.0.17] startup +[2.776s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,766ms] [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. +2026-09-21T03:26:06Z [2,767ms] [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. +2026-09-21T03:26:06Z [2,767ms] [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. +2026-09-21T03:26:06Z [2,767ms] [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. +[2.779s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:26:06Z [2,769ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[2.781s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[2.790s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[2.795s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[2.797s] [ext: isaacsim.replicator.examples-1.3.6] startup +[2.800s] [ext: omni.ocio-0.1.1] startup +[2.802s] [ext: omni.rtx.window.settings-0.6.19] startup +[2.809s] [ext: omni.kit.window.console-1.1.4] startup +[2.820s] [ext: omni.kit.window.status_bar-0.1.9] startup +[2.826s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:26:06Z [2,815ms] [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. +[2.827s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[2.833s] [ext: omni.rtx.settings.core-0.6.5] startup +[2.838s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[2.847s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:26:06Z [2,836ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[2.848s] [ext: semantics.schema.editor-2.0.2] startup +[2.852s] [ext: omni.kit.ui.actions-1.0.5] startup +[2.854s] [ext: semantics.schema.property-2.0.1] startup +[2.855s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:26:06Z [2,844ms] [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. +2026-09-21T03:26:06Z [2,844ms] [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. +2026-09-21T03:26:06Z [2,844ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly. +[2.856s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:26:06Z [2,846ms] [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. +2026-09-21T03:26:06Z [2,846ms] [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. +2026-09-21T03:26:06Z [2,846ms] [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. +2026-09-21T03:26:06Z [2,846ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[2.858s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[2.866s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[2.871s] [ext: omni.kit.menu.common-2.0.1] startup +[2.873s] [ext: isaacsim.exp.base-5.1.0] startup +[2.873s] [ext: omnigibson_5_1_0-3.9.2] startup +[2.874s] Simulation App Starting +2026-09-21T03:26:06Z [2,906ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T03:26:06Z [2,926ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[2.962s] app ready +[4.610s] Simulation App Startup Complete +[4.901s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:26:08Z [4,989ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:26:09Z [5,855ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:09.469] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:09.542] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:26:56Z [52,722ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:26:58Z [55,032ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:58Z [55,032ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:58Z [55,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:58Z [55,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:58Z [55,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:58Z [55,033ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,146ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,146ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,175ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,175ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,266ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,266ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,297ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,298ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,919ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,936ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,939ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,945ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,950ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,950ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:26:59Z [55,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,098ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,361ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,361ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,362ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,362ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,384ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,384ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:27:00Z [56,465ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:27:01Z [57,294ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:01.177] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:01.214] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:27:09Z [65,074ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:09.460] [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. +[00:01:09.462] [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. +2026-09-21T03:27:09Z [65,876ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:27:09Z [65,877ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:27:09Z [65,878ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:27:09Z [65,879ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:27:12Z [68,789ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:27:25Z [81,325ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 480 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 600 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 720 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 840 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 960 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1080 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1200 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1320 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1440 grasp_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1560 bin_grasp_micro_search {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1680 bin_grasp_micro_search {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1800 bin_grasp_micro_search {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 1920 bin_grasp_micro_search {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 315, in pick + raise RecoveryFailure("physical_grasp_not_established") +task01_recovery.control.RecoveryFailure: physical_grasp_not_established + +2026-09-21T03:35:38Z [574,339ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:35:38Z [574,361ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:35:38Z [574,361ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[574.483s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..1ac845d23ac80057344ebd579296f2979a68efb7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:846d5fdb32ebfa07e17598434780133a056e12d7fbd44632d3ad1f5662374064 +size 2113 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..c6a8fc6dcd478b504bb74bce9976bca5ceaaf585 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caaf3c1d6df15cdf4f3f1f79c404fdfb734047a20f5d6c2fe89f037d03c5a55c +size 30901296 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..718e86a5c42b28f06f960ecf48ee0bce2118b218 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af8989e6f95813f21f5bb83800a96b9b0ec5d68cf63b6e47e6c78bd1a8ddca0c +size 4776040 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/case.json new file mode 100644 index 0000000000000000000000000000000000000000..d3ff90f92c726324906bc6fa6a639c58ca2f1865 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017330-f002401", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 1, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 2401, + "start_type": "judgement_seed", + "chunk_index": 1, + "chunk_span": [ + 2401, + 7500 + ], + "reason": "Row's first frame per the ordering rule \u2014 this is where the robot committed to leaving the trash-can vicinity with A undone (f2400 head view shows robot in the kitchen doorway facing the living room). Both hands empty here (first grasp in log is f7416); the correct next action from this restored state is to turn back and pick up trash_can_116, which is now on its side on the kitchen floor. Off-distribution: no demo shows picking up a tipped trash can \u2014 flagged in report." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..96b687b83b99105b33640a2e421ead452d8ac51d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f002401/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017330-f002401", + "episode_id": "00017330", + "instance_id": 733, + "start_type": "judgement_seed", + "source_frame": 2401, + "attempt": "attempt_001", + "completed_at": "2026-09-21T03:37:01+00:00", + "success": false, + "status": "error", + "error": "physical_grasp_not_established", + 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"eef_target", "arm": "left", "body_xyz": [0.5759765628041869, 0.2167409591506443, 0.26662542885649576], "world_xyz": [6.398221492767334, 0.3534698486328124, 0.27181461691856384], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7743, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7743, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7761, "event": "joint_tracking", "max_error_rad": 0.002184629440307617} +{"step": 7761, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.398014545440674, 0.3536760210990906, 0.27179527282714844], "desired_xyz": [6.398221492767334, 0.3534698486328124, 0.27181461691856384], "error_m": 0.0002927600992889969} +{"step": 7761, "event": "eef_target", "arm": "left", "body_xyz": [0.5759672208512665, 0.21672509339963086, 0.3095837077136071], "world_xyz": [6.398221492767334, 0.353469848632813, 0.31477365255355816], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7761, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7761, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7779, "event": "joint_tracking", "max_error_rad": 0.0021396875381469727} +{"step": 7779, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.39801549911499, 0.35366395115852356, 0.31475311517715454], "desired_xyz": [6.398221492767334, 0.353469848632813, 0.31477365255355816], "error_m": 0.0002837797722225462} +{"step": 7779, "event": "eef_target", "arm": "left", "body_xyz": [0.5759508907782455, 0.21671875996075982, 0.35254243310093974], "world_xyz": [6.398221492767334, 0.35346984863281283, 0.3577326881885527], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7779, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7779, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7797, "event": "joint_tracking", "max_error_rad": 0.0021386146545410156} +{"step": 7797, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.398013591766357, 0.3536670506000519, 0.35771042108535767], "desired_xyz": [6.398221492767334, 0.35346984863281283, 0.3577326881885527], "error_m": 0.0002874147977657114} +{"step": 7797, "event": "release_point_selected", "xy": [6.275198459625244, 0.4193881005048752], "occupied": 0, "strategy": "center", "ring_radius_m": 0.0, "min_distance_m": null} +{"step": 7797, "event": "eef_target", "arm": "left", "body_xyz": [0.5756874518145678, 0.2165755946634412, 0.3552756544860166], "world_xyz": [6.398013591766357, 0.3536670506000516, 0.3604653322696685], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7797, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7797, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7837, "event": "joint_tracking", "max_error_rad": 0.002196073532104492} +{"step": 7837, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.397791385650635, 0.3538755178451538, 0.36045700311660767], "desired_xyz": [6.398013591766357, 0.3536670506000516, 0.3604653322696685], "error_m": 0.000304800795497263} +{"step": 7837, "event": "eef_target", "arm": "left", "body_xyz": [0.5480435109828563, 0.19167108747980827, 0.35526516541691416], "world_xyz": [6.365559697151184, 0.37186452373862244, 0.3604590854048729], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7837, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7837, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7855, "event": "joint_tracking", "max_error_rad": 0.0022231340408325195} +{"step": 7855, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.365354061126709, 0.37206459045410156, 0.3604546785354614], "desired_xyz": [6.365559697151184, 0.37186452373862244, 0.3604590854048729], "error_m": 0.00028693603068024725} +{"step": 7855, "event": "eef_target", "arm": "left", "body_xyz": [0.5206661342605693, 0.16690979421948457, 0.35526237794270543], "world_xyz": [6.333328008651733, 0.38985352963209124, 0.36046116769313813], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7855, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7855, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7873, "event": "joint_tracking", "max_error_rad": 0.002207159996032715} +{"step": 7873, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.333128452301025, 0.39004942774772644, 0.36045634746551514], "desired_xyz": [6.333328008651733, 0.38985352963209124, 0.36046116769313813], "error_m": 0.00027968203984463395} +{"step": 7873, "event": "eef_target", "arm": "left", "body_xyz": [0.4932901864942081, 0.1421490958606575, 0.35525968795372553], "world_xyz": [6.301096320152283, 0.40784253552556016, 0.36046324998140317], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7873, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7873, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7891, "event": "joint_tracking", "max_error_rad": 0.0022351741790771484} +{"step": 7891, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.300899505615234, 0.4080394208431244, 0.3604568839073181], "desired_xyz": [6.301096320152283, 0.40784253552556016, 0.36046324998140317], "error_m": 0.0002784606204926963} +{"step": 7891, "event": "eef_target", "arm": "left", "body_xyz": [0.46591388923769217, 0.11738635986132795, 0.3552572228332749], "world_xyz": [6.268864631652832, 0.425831541419029, 0.3604653322696683], "held": {"left": "can_of_soda_114", "right": null}} +{"step": 7891, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 7891, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 7902, "event": "actions_rejected", "start": 7837, "end": 7902, "reason": "episode_budget_exhausted"} +{"step": 7902, "event": "primitive_failure", "operation": "deposit:can_of_soda_114", "reason": "episode_budget_exhausted", "attempt": 4} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..5e791930e7172fe95ba49485b7c22496dac3c2d3 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/7902 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 653, in deposit\n self.r.eef_world(arm, above[:3, 3], quat, steps=50)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 121, in eef_world\n return self._eef_cartesian(arm, xyz, quat, steps, reference_q)\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 145, in _eef_cartesian\n self._eef_world_once(arm, start + alpha * (goal - start), target_q,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 387, in _eef_world_once\n self.joint(a, steps=steps, tolerance=None)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 109, in joint\n self.tick(a)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 72, in tick\n raise RecoveryFailure(\"episode_budget_exhausted\")\ntask01_recovery.control.RecoveryFailure: episode_budget_exhausted\n", + "steps": 7902, + "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": null + }, + "eef_world": { + "left": [ + [ + 6.273262977600098, + 0.42329031229019165, + 0.36047378182411194 + ], + [ + 0.8911724090576172, + 0.45181408524513245, + 0.03645557165145874, + -0.018628014251589775 + ] + ], + "right": [ + [ + 5.815018177032471, + 0.15841376781463623, + 0.7532314658164978 + ], + [ + 0.025725195184350014, + 0.6224809288978577, + -0.26552703976631165, + 0.7357656955718994 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 6.279568672180176, + 0.4168987274169922, + 0.34256118535995483 + ], + "can__of__soda.n.01_3": [ + 4.721971035003662, + 5.015437126159668, + 0.06461407244205475 + ], + "can__of__soda.n.01_1": [ + 4.662002086639404, + 5.886112689971924, + 0.07145748287439346 + ], + "ashcan.n.01_1": [ + 6.262019157409668, + 0.3974621891975403, + 0.09301745891571045 + ] + }, + "robot_pose": [ + [ + 6.008249759674072, + 0.8295508027076721, + 0.005286127328872681 + ], + [ + 4.055723547935486e-05, + 6.614010635530576e-05, + -0.5828092694282532, + 0.812609076499939 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1882 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b5e8668e3499202a75c14ee663c058057b77bf6b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:139888343f7af21b1e31eced4822d6d9458d13c1af4d74ef59bef2cc9462d300 +size 432618 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..045e4db9fad282ad0276c138dd3ec5616565d8ae --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/run.log @@ -0,0 +1,710 @@ +RECOVERY building environment +[00:00:03.596] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260922_072234.log +[0.070s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.127s] [ext: omni.metrics.core-0.0.3] startup +[0.127s] [ext: omni.client.lib-1.1.0] startup +[0.140s] [ext: omni.blobkey-1.1.2] startup +[0.140s] [ext: omni.stats-1.0.1] startup +[0.141s] [ext: omni.datastore-0.0.0] startup +[0.146s] [ext: omni.client-1.3.0] startup +[0.150s] [ext: omni.ujitso.default-1.0.0] startup +[0.153s] [ext: omni.hsscclient-1.1.2] startup +[0.173s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.175s] [ext: omni.assets.plugins-0.0.0] startup +[0.175s] [ext: omni.gpu_foundation-0.0.0] startup +[0.185s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T23:22:34Z [152ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:34Z [153ms] [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) +[0.186s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T23:22:34Z [191ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 570.124.06 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24564 MB | 10de | 0 | +| | | | | | 2684 | add07dc3.. | +| | | | | | 1 | | +|=============================================================================================| +| OS: 22.04.2 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.2, Kernel: 5.19.0-50-generic +| Processor: 13th Gen Intel(R) Core(TM) i9-13900K +| Bare Metal Cores: 24 | Bare Metal Logical Cores: 48 +| Available Cores: 32 +|---------------------------------------------------------------------------------------------| +| Total Memory (MB): 64036 | Free Memory: 46847 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T23:22:35Z [744ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.892s] [ext: omni.materialx.libs-1.0.7] startup +[0.906s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.907s] [ext: omni.kit.test-2.0.1] startup +[0.938s] [ext: omni.usd.config-1.0.6] startup +[0.944s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.944s] [ext: omni.usd.libs-1.0.1] startup +[1.098s] [ext: omni.kit.telemetry-0.5.2] startup +[1.122s] [ext: omni.mdl-56.0.3] startup +[1.151s] [ext: omni.iray.libs-0.0.0] startup +[1.158s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.160s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.231s] [ext: omni.kit.pipapi-0.0.0] startup +[1.232s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T23:22:35Z [1,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.235s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T23:22:35Z [1,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,221ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-09-21T23:22:35Z [1,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,226ms] [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) +[1.261s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.263s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T23:22:35Z [1,232ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,232ms] [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) +2026-09-21T23:22:35Z [1,233ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,233ms] [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) +2026-09-21T23:22:35Z [1,234ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:22:35Z [1,234ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.303s] [ext: omni.ui-2.27.1] startup +[1.310s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.311s] [ext: carb.audio-0.1.0] startup +[1.315s] [ext: omni.uiaudio-1.0.0] startup +[1.315s] [ext: omni.kit.uiapp-0.0.0] startup +[1.315s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.317s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.320s] [ext: omni.usd_resolver-1.0.0] startup +[1.324s] [ext: omni.usd.core-1.5.3] startup +[1.327s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.344s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.362s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.365s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.368s] [ext: omni.kit.actions.core-1.0.0] startup +[1.369s] [ext: omni.activity.core-1.0.3] startup +[1.370s] [ext: omni.kit.commands-1.4.10] startup +[1.374s] [ext: usdrt.scenegraph-7.6.1] startup +[1.399s] [ext: omni.resourcemonitor-107.0.1] startup +[1.401s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.402s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.409s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.409s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.412s] [ext: omni.graph.exec-0.9.6] startup +[1.413s] [ext: omni.timeline-1.0.14] startup +[1.414s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.416s] [ext: omni.kit.exec.core-0.13.4] startup +[1.417s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.423s] [ext: omni.usd-1.13.10] startup +[1.445s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.455s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.455s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.461s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.468s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.473s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.474s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.474s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.498s] [ext: omni.inspect-1.0.2] startup +[1.500s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.501s] [ext: omni.graph.core-2.184.5] startup +[1.504s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.505s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.505s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.511s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.514s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.515s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.518s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.519s] [ext: omni.kit.clipboard-1.0.5] startup +[1.520s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.526s] [ext: omni.ui.scene-1.11.5] startup +[1.528s] [ext: omni.index.libs-380600.8087.0] startup +[1.528s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.534s] [ext: omni.index-1.0.1] startup +[1.535s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.535s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.537s] [ext: omni.volume-0.5.2] startup +[1.539s] [ext: omni.ujitso.client-0.0.0] startup +[1.539s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.540s] [ext: omni.kit.menu.core-1.1.2] startup +[1.541s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T23:22:35Z [1,525ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.578s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.579s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.581s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.582s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.586s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.593s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.597s] [ext: omni.kit.context_menu-1.8.6] startup +[1.598s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.601s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.601s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.602s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.608s] [ext: omni.kit.material.library-2.0.7] startup +[1.611s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.612s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.614s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.625s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.626s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.627s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.627s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.627s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.628s] [ext: omni.kit.browser.core-2.3.13] startup +[1.630s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.630s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.638s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.641s] [ext: omni.kit.window.file-2.0.5] startup +[1.642s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.643s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.643s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.644s] [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 +[1.661s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.668s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.669s] [ext: omni.graph.action_core-1.1.7] startup +[1.671s] [ext: omni.graph-1.141.2] startup +[1.701s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.702s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.706s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.711s] [ext: omni.kit.window.stage-2.6.1] startup +[1.718s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.718s] [ext: omni.graph.action-1.130.0] startup +[1.719s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.720s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.723s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.724s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.733s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.739s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.741s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.743s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.744s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.751s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.753s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.755s] [ext: omni.kit.window.property-1.12.1] startup +[1.757s] [ext: omni.ui_query-1.1.8] startup +[1.758s] [ext: omni.kit.property.usd-4.5.12] startup +[1.764s] [ext: omni.kit.menu.create-2.0.1] startup +[1.766s] [ext: isaacsim.core.version-2.0.6] startup +[1.767s] [ext: omni.kit.ui_test-1.3.7] startup +[1.769s] [ext: omni.kit.scripting-107.3.2] startup +[1.773s] [ext: omni.convexdecomposition-107.3.26] startup +[1.776s] [ext: isaacsim.storage.native-1.5.1] startup +[1.777s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.784s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.787s] [ext: omni.kvdb-107.3.26] startup +[1.788s] [ext: omni.usdphysics-107.3.26] startup +[1.790s] [ext: omni.physx.foundation-107.3.26] startup +[1.791s] [ext: omni.localcache-107.3.26] startup +[1.792s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.796s] [ext: omni.physx.cooking-107.3.26] startup +[1.799s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.801s] [ext: omni.physx-107.3.26] startup +[1.808s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.812s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.813s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.817s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.821s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.822s] [ext: isaacsim.gui.components-1.2.1] startup +[1.824s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.827s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.887s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.890s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.902s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.907s] [ext: omni.fabric.commands-1.1.6] startup +[1.909s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.910s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.912s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.921s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.923s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.924s] [ext: omni.debugdraw-0.1.4] startup +[1.931s] [ext: omni.physics-107.3.26] startup +[1.935s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.953s] [ext: omni.physx.commands-107.3.26] startup +[1.957s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.960s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.963s] [ext: omni.physx.ui-107.3.26] startup +[1.992s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.997s] [ext: omni.physx.supportui-107.3.26] startup +[2.008s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.010s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.012s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.018s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T23:22:36Z [1,988ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.022s] [ext: omni.physics.tensors-107.3.26] startup +[2.028s] [ext: omni.warp.core-1.8.2] startup +[2.144s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.146s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T23:22:36Z [2,127ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.161s] [ext: omni.physx.tensors-107.3.26] startup +[2.166s] [ext: isaacsim.core.utils-3.5.1] startup +[2.169s] [ext: omni.graph.image.core-0.6.1] startup +[2.171s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.249s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.252s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.254s] [ext: isaacsim.core.prims-0.6.1] startup +[2.269s] [ext: omni.syntheticdata-0.6.13] startup +[2.286s] [ext: isaacsim.core.api-4.8.0] startup +[2.305s] [ext: omni.videoencoding-0.1.2] startup +[2.308s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.310s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.314s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.315s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.315s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.320s] [ext: omni.graph.nodes-1.170.10] startup +[2.334s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.338s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.342s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T23:22:36Z [2,309ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.343s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.353s] [ext: omni.warp-1.8.2] startup +[2.359s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.376s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.377s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.392s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.434s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T23:22:36Z [2,416ms] [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 +2026-09-21T23:22:37Z [2,549ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T23:22:37Z [2,549ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T23:22:37Z [2,550ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.585s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.590s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.596s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.603s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T23:22:37Z [2,573ms] [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. +[2.609s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.617s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.634s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.647s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.676s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.678s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T23:22:37Z [2,651ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.703s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.705s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T23:22:37Z [2,681ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.716s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T23:22:37Z [2,685ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.719s] [ext: omni.anim.curve.core-1.3.1] startup +[2.772s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T23:22:37Z [2,740ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:22:37Z [2,742ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:22:37Z [2,794ms] [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. +[2.832s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.909s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T23:22:37Z [2,876ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.921s] [ext: omni.kit.selection-0.1.6] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.963s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.974s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T23:22:37Z [2,942ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,942ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,943ms] [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. +2026-09-21T23:22:37Z [2,944ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,944ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,944ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,944ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,946ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,946ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:22:37Z [2,946ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.980s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.991s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.997s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.003s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T23:22:37Z [2,971ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.005s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.012s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T23:22:37Z [2,981ms] [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. +2026-09-21T23:22:37Z [2,983ms] [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. +2026-09-21T23:22:37Z [2,984ms] [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. +2026-09-21T23:22:37Z [2,984ms] [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. +2026-09-21T23:22:37Z [2,989ms] [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. +2026-09-21T23:22:37Z [2,991ms] [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. +2026-09-21T23:22:37Z [2,991ms] [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. +2026-09-21T23:22:37Z [2,991ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,992ms] [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. +2026-09-21T23:22:37Z [2,993ms] [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. +2026-09-21T23:22:37Z [2,994ms] [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. +[3.027s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T23:22:37Z [2,995ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.029s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T23:22:37Z [2,999ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T23:22:37Z [3,000ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.033s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T23:22:37Z [3,001ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.035s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T23:22:37Z [3,003ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.036s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.040s] [ext: omni.isaac.utils-2.0.6] startup +[3.041s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.050s] [ext: isaacsim.app.about-2.0.11] startup +[3.054s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T23:22:37Z [3,022ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.055s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.056s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T23:22:37Z [3,024ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T23:22:37Z [3,025ms] [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. +2026-09-21T23:22:37Z [3,025ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,026ms] [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. +2026-09-21T23:22:37Z [3,027ms] [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. +2026-09-21T23:22:37Z [3,027ms] [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. +[3.061s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T23:22:37Z [3,035ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T23:22:37Z [3,036ms] [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. +[3.069s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.074s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T23:22:37Z [3,041ms] [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. +[3.075s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.087s] [ext: omni.kit.property.audio-1.0.16] startup +[3.091s] [ext: omni.kit.property.camera-1.0.10] startup +[3.096s] [ext: omni.sensors.net-1.0.0] startup +[3.099s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.102s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.105s] [ext: omni.kit.property.light-1.0.12] startup +[3.134s] [ext: omni.kit.property.material-1.11.9] startup +[3.141s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.142s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.144s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.149s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.156s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.160s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.163s] [ext: omni.kit.property.render-1.2.1] startup +[3.164s] [ext: omni.kit.property.transform-1.5.13] startup +[3.167s] [ext: isaacsim.gui.property-1.1.3] startup +[3.170s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.175s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.182s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.194s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.201s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.205s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T23:22:37Z [3,173ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T23:22:37Z [3,173ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly. +[3.206s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T23:22:37Z [3,174ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T23:22:37Z [3,174ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly. +[3.207s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.219s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,187ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,187ms] [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. +2026-09-21T23:22:37Z [3,188ms] [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. +2026-09-21T23:22:37Z [3,189ms] [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. +2026-09-21T23:22:37Z [3,189ms] [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. +2026-09-21T23:22:37Z [3,189ms] [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. +[3.225s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T23:22:37Z [3,194ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.228s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.239s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.241s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.243s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.245s] [ext: omni.ocio-0.1.1] startup +[3.249s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.261s] [ext: omni.kit.window.console-1.1.4] startup +[3.272s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.279s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T23:22:37Z [3,247ms] [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. +[3.280s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.288s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.295s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.309s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T23:22:37Z [3,277ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.311s] [ext: semantics.schema.editor-2.0.2] startup +[3.317s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.319s] [ext: semantics.schema.property-2.0.1] startup +[3.322s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T23:22:37Z [3,290ms] [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. +2026-09-21T23:22:37Z [3,290ms] [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. +2026-09-21T23:22:37Z [3,292ms] [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. +[3.325s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T23:22:37Z [3,294ms] [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. +2026-09-21T23:22:37Z [3,294ms] [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. +2026-09-21T23:22:37Z [3,295ms] [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. +2026-09-21T23:22:37Z [3,295ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.328s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.343s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.350s] [ext: omni.kit.menu.common-2.0.1] startup +[3.353s] [ext: isaacsim.exp.base-5.1.0] startup +[3.354s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.355s] Simulation App Starting +2026-09-21T23:22:37Z [3,371ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T23:22:37Z [3,395ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-09-21T23:22:37Z [3,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-09-21T23:22:37Z [3,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-09-21T23:22:37Z [3,415ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +[3.456s] app ready +[5.480s] Simulation App Startup Complete +[5.847s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T23:22:40Z [5,965ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T23:22:41Z [6,839ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.512] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.672] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T23:23:47Z [73,383ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:23:49Z [75,493ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-21T23:23:50Z [75,787ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,787ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,787ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,788ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,788ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,788ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,905ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,940ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,975ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [75,976ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,011ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,045ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,045ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,081ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,081ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,081ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,081ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:50Z [76,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,885ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,885ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,886ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,914ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,914ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,933ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,938ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,938ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,943ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,949ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,949ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,955ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [76,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,111ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,507ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,508ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:51Z [77,532ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:23:52Z [77,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:23:52Z [77,620ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:22.591] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:22.631] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T23:24:01Z [87,363ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:33.766] [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. +[00:01:33.769] [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. +2026-09-21T23:24:04Z [90,122ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:24:04Z [90,123ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:24:04Z [90,124ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:24:04Z [90,125ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:24:07Z [93,284ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T23:24:17Z [102,676ms] [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 +2026-09-21T23:24:26Z [112,124ms] [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 +2026-09-21T23:25:44Z [190,296ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1920 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2160 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2280 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2400 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2520 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2640 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2760 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2880 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3000 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3120 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3240 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +2026-09-21T23:35:26Z [771,974ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +RECOVERY progress 3360 grasp_bin {'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 3480 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 3600 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 3720 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 3840 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'} +2026-09-21T23:38:06Z [931,626ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 3960 grasp_can {'can__of__soda.n.01_2': 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 4080 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 4200 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 4320 ground_bin_for_blocked_deposit_regrasp {'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 4440 ground_bin_for_blocked_deposit_regrasp {'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': None} +RECOVERY progress 4560 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 4920 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 5040 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 5160 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 5280 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 5400 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': None, 'right': None} +RECOVERY progress 5520 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': None, 'right': None} +RECOVERY progress 5640 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': None} +RECOVERY progress 5760 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': None} +RECOVERY progress 5880 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': None} +2026-09-21T23:46:16Z [1,422,084ms] [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 6000 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 6120 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 6240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 6360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 6480 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': None, 'right': None} +RECOVERY progress 6600 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': None} +RECOVERY progress 6720 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': None} +RECOVERY progress 6840 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': None} +RECOVERY progress 6960 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': None} +RECOVERY progress 7080 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 7200 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': None} +RECOVERY progress 7320 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': None} +RECOVERY progress 7440 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': None} +2026-09-21T23:52:04Z [1,769,745ms] [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 7560 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': None} +RECOVERY progress 7680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +RECOVERY progress 7800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_114', 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 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 387, in _eef_world_once + self.joint(a, steps=steps, tolerance=None) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 109, in joint + self.tick(a) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 72, in tick + raise RecoveryFailure("episode_budget_exhausted") +task01_recovery.control.RecoveryFailure: episode_budget_exhausted + +2026-09-21T23:53:45Z [1,871,417ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:53:45Z [1,871,417ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:53:45Z [1,871,417ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1871.552s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..2f11ce826fc652eaa73f532ffc8912fb3975ab43 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23876ccafb139720191dba923d904bf4af8c9f2320f7c0e3d9ca4abf0a6d51d +size 8030 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..dc5d582f09aa52904f8619b152ed7750ae5b666c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2059d1171904e97859b33c32daa2be8219e745035d48cb3bb9a8f8d55e5d4931 +size 123292646 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0fee0c6a77486f00d59cd1d19d7f39a63dd16f49 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f86b291027f3e1f4188a73c3fc1fd0b54f670bf436ddcb521c046939055f9a47 +size 17613368 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/case.json new file mode 100644 index 0000000000000000000000000000000000000000..31ca7e656e3fa12529fff798e011b8cf6fc36245 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017330-f007501", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 2, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 7501, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 7501, + 8300 + ], + "reason": "Row's first frame per the ordering rule \u2014 right hand just grasped can_114 (log: IsGrasping(right, can_114) true at f7416; wrist view f7500 shows can fully seated). Arm forced to right because that hand holds the can. Plan-directed next step is place-in into trash_can_116, though off-distribution since demos show placement into a held upright trash can, not a tipped one on the floor." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..16cec0932299a575592320b1ba78299e41e55f4a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f007501/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017330-f007501", + "episode_id": "00017330", + "instance_id": 733, + "start_type": "judgement_seed", + "source_frame": 7501, + "attempt": "attempt_001", + "completed_at": "2026-09-21T23:59:33+00:00", + "success": 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"event": "joint_tracking", "max_error_rad": 0.04598744213581085} +{"step": 4273, "event": "eef_tracking", "arm": "left", "actual_xyz": [7.480210781097412, 0.7338991761207581, 0.5330380797386169], "desired_xyz": [7.49712960380481, 0.7353063687526078, 0.5170314285397478], "error_m": 0.023333230284505152} +{"step": 4273, "event": "eef_target", "arm": "left", "body_xyz": [0.26616516701822585, 0.2949333173314541, 0.4335301258412742], "world_xyz": [7.500248994158784, 0.7028393875612431, 0.4964317944198779], "held": {"left": null, "right": null}} +{"step": 4273, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4273, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4288, "event": "joint_tracking", "max_error_rad": 0.20346146821975708} +{"step": 4288, "event": "eef_tracking", "arm": "left", "actual_xyz": [7.482611656188965, 0.7010790109634399, 0.5139174461364746], "desired_xyz": [7.500248994158784, 0.7028393875612431, 0.4964317944198779], "error_m": 0.02489824556834941} +{"step": 4288, "event": "eef_target", "arm": "left", "body_xyz": [0.30038195006828095, 0.2911741480941442, 0.3931405465695753], "world_xyz": [7.503368384512757, 0.6703724063698784, 0.47583216030000786], "held": {"left": null, "right": null}} +{"step": 4288, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4288, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4303, "event": "joint_tracking", "max_error_rad": 0.13665029406547546} +{"step": 4303, "event": "eef_tracking", "arm": "left", "actual_xyz": [7.485081672668457, 0.6682966351509094, 0.495048850774765], "desired_xyz": [7.503368384512757, 0.6703724063698784, 0.47583216030000786], "error_m": 0.026608153807293266} +{"step": 4303, "event": "eef_target", "arm": "left", "body_xyz": [0.3337531641174592, 0.28661070531598465, 0.3504562936560903], "world_xyz": [7.506487774866731, 0.6379054251785137, 0.4552325261801382], "held": {"left": null, "right": null}} +{"step": 4303, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 4303, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 4318, "event": "joint_tracking", "max_error_rad": 0.00011432170867919922} +{"step": 4318, "event": "eef_tracking", "arm": "left", "actual_xyz": [7.487457752227783, 0.6354478597640991, 0.47635698318481445], "desired_xyz": [7.506487774866731, 0.6379054251785137, 0.4552325261801382], "error_m": 0.02853811614573386} +{"step": 4318, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": true} +{"step": 4318, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": true} +{"step": 4318, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": true} +{"step": 4318, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 4318, "event": "approach_candidates", "key": "pick_bin", "target": [7.360180854797363, 0.23291483521461487], "evaluated": 45, "traversable": 17, "previously_tried": 2, "chosen": {"xy": [7.352421577272228, 0.8180983907015132], "yaw": -1.2087665383983315, "delta": 0.0, "distance": 0.55}} +{"step": 4318, "event": "navigation_base_instability", "height_m": 0.04274991154670715, "tilt_rad": 0.2239147863992064, "allowed": [0.05, 0.2], "hard": false, "event_index": 1} +{"step": 4363, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.2231746455624164, "height_m": 0.04262223839759827} +{"step": 4363, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.2231746455624164, "height_m": 0.04262223839759827, "translation_cap": 0.175, "rotation_cap": 0.225, "soft_event_index": 1} +{"step": 4363, "event": "navigation_base_instability", "height_m": 0.04262223839759827, "tilt_rad": 0.2231746455624164, "allowed": [0.05, 0.2], "hard": false, "event_index": 2} +{"step": 4408, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.22248540482078746, "height_m": 0.04250352084636688} +{"step": 4408, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.22248540482078746, "height_m": 0.04250352084636688, "translation_cap": 0.0875, "rotation_cap": 0.1125, "soft_event_index": 2} +{"step": 4408, "event": "navigation_base_instability", "height_m": 0.04250352084636688, "tilt_rad": 0.22248540482078746, "allowed": [0.05, 0.2], "hard": false, "event_index": 3} +{"step": 4453, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.22178839744770587, "height_m": 0.042383432388305664} +{"step": 4453, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.22178839744770587, "height_m": 0.042383432388305664, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 3} +{"step": 4453, "event": "navigation_base_instability", "height_m": 0.042383432388305664, "tilt_rad": 0.22178839744770587, "allowed": [0.05, 0.2], "hard": false, "event_index": 4} +{"step": 4498, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.22109366692976115, "height_m": 0.04226367175579071} +{"step": 4498, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.22109366692976115, "height_m": 0.04226367175579071, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 4} +{"step": 4498, "event": "navigation_base_instability", "height_m": 0.04226367175579071, "tilt_rad": 0.22109366692976115, "allowed": [0.05, 0.2], "hard": false, "event_index": 5} +{"step": 4543, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.22039417264957856, "height_m": 0.04214364290237427} +{"step": 4543, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.22039417264957856, "height_m": 0.04214364290237427, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 5} +{"step": 4543, "event": "navigation_base_instability", "height_m": 0.04214364290237427, "tilt_rad": 0.22039417264957856, "allowed": [0.05, 0.2], "hard": false, "event_index": 6} +{"step": 4588, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.22000776346275655, "height_m": 0.04207678139209747} +{"step": 4588, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.22000776346275655, "height_m": 0.04207678139209747, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 6} +{"step": 4588, "event": "navigation_base_instability", "height_m": 0.04207678139209747, "tilt_rad": 0.22000776346275655, "allowed": [0.05, 0.2], "hard": false, "event_index": 7} +{"step": 4633, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.21996629617504307, "height_m": 0.042069658637046814} +{"step": 4633, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.21996629617504307, "height_m": 0.042069658637046814, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 7} +{"step": 4633, "event": "navigation_base_instability", "height_m": 0.042069658637046814, "tilt_rad": 0.21996629617504307, "allowed": [0.05, 0.2], "hard": false, "event_index": 8} +{"step": 4678, "event": "navigation_tilt_pause", "recovered": false, "tilt_rad": 0.219954402096255, "height_m": 0.04206785559654236} +{"step": 4678, "event": "navigation_tilt_continue_soft", "tilt_rad": 0.219954402096255, "height_m": 0.04206785559654236, "translation_cap": 0.08, "rotation_cap": 0.1, "soft_event_index": 8} +{"step": 4678, "event": "primitive_failure", "operation": "pick_bin", "reason": "navigation_soft_tilt_budget_exhausted", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..87cc977bea76fa5577f1deadad90cda0ff6a1f4c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/4678 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 258, in pick\n self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 171, in approach\n self.route(np.r_[chosen[\"xy\"], chosen[\"yaw\"]])\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 138, in route\n self.r.navigate(np.r_[xy, goal[2]], max_steps=budget)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py\", line 486, in navigate\n raise RecoveryFailure(\"navigation_soft_tilt_budget_exhausted\")\ntask01_recovery.control.RecoveryFailure: navigation_soft_tilt_budget_exhausted\n", + "steps": 4678, + "final_task": { + "inside": { + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 7.488578796386719, + 0.6344945430755615, + 0.47419947385787964 + ], + [ + 0.07159183919429779, + 0.8780649304389954, + 0.09134964644908905, + -0.4642541706562042 + ] + ], + "right": [ + [ + 7.40031099319458, + 0.24289391934871674, + 0.09624279290437698 + ], + [ + 0.43514078855514526, + 0.6956988573074341, + 0.4020000696182251, + 0.406265527009964 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_2": [ + 7.081905841827393, + 0.31461992859840393, + 0.035183120518922806 + ], + "can__of__soda.n.01_3": [ + 7.102993488311768, + 0.19483420252799988, + 0.03642052039504051 + ], + "can__of__soda.n.01_1": [ + 4.661996841430664, + 5.886101722717285, + 0.07145722210407257 + ], + "ashcan.n.01_1": [ + 7.491530895233154, + 0.33795133233070374, + 0.09303079545497894 + ] + }, + "robot_pose": [ + [ + 7.155686855316162, + 0.7713326811790466, + 0.04206785559654236 + ], + [ + 0.05722828581929207, + -0.0936548188328743, + -0.48433998227119446, + 0.8679680824279785 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 1031 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8682ff7c75b3b36cf56007387a3fe9bdf6067745 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a3aa51f3a412bfd507c3cf60ed99c70d9f75198c9c4d7b856ea26b64a94691a +size 471324 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..9a16ad0b02911c7b7090e47483a219bdd9075505 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/run.log @@ -0,0 +1,673 @@ +RECOVERY building environment +[00:00:03.869] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260922_163429.log +[0.073s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.125s] [ext: omni.metrics.core-0.0.3] startup +[0.125s] [ext: omni.client.lib-1.1.0] startup +[0.138s] [ext: omni.blobkey-1.1.2] startup +[0.138s] [ext: omni.stats-1.0.1] startup +[0.140s] [ext: omni.datastore-0.0.0] startup +[0.150s] [ext: omni.client-1.3.0] startup +[0.153s] [ext: omni.ujitso.default-1.0.0] startup +[0.156s] [ext: omni.hsscclient-1.1.2] startup +[0.244s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.246s] [ext: omni.assets.plugins-0.0.0] startup +[0.248s] [ext: omni.gpu_foundation-0.0.0] startup +[0.259s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-22T08:34:30Z [220ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:30Z [220ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.260s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-22T08:34:30Z [247ms] [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: 47181 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-22T08:34:30Z [891ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.044s] [ext: omni.materialx.libs-1.0.7] startup +[1.052s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.053s] [ext: omni.kit.test-2.0.1] startup +[1.083s] [ext: omni.usd.config-1.0.6] startup +[1.087s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.089s] [ext: omni.usd.libs-1.0.1] startup +[1.267s] [ext: omni.kit.telemetry-0.5.2] startup +[1.292s] [ext: omni.mdl-56.0.3] startup +[1.312s] [ext: omni.iray.libs-0.0.0] startup +[1.321s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.324s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.444s] [ext: omni.kit.pipapi-0.0.0] startup +[1.445s] [ext: omni.appwindow-1.1.10] startup +2026-09-22T08:34:31Z [1,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,406ms] [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) +[1.448s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-22T08:34:31Z [1,423ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,423ms] [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) +2026-09-22T08:34:31Z [1,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,432ms] [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) +[1.474s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.478s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-22T08:34:31Z [1,445ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,445ms] [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) +2026-09-22T08:34:31Z [1,446ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,446ms] [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) +2026-09-22T08:34:31Z [1,448ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-22T08:34:31Z [1,448ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.554s] [ext: omni.ui-2.27.1] startup +[1.564s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.565s] [ext: carb.audio-0.1.0] startup +[1.569s] [ext: omni.uiaudio-1.0.0] startup +[1.570s] [ext: omni.kit.uiapp-0.0.0] startup +[1.570s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.573s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.576s] [ext: omni.usd_resolver-1.0.0] startup +[1.581s] [ext: omni.usd.core-1.5.3] startup +[1.585s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.606s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.629s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.632s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.635s] [ext: omni.kit.actions.core-1.0.0] startup +[1.637s] [ext: omni.activity.core-1.0.3] startup +[1.639s] [ext: omni.kit.commands-1.4.10] startup +[1.642s] [ext: usdrt.scenegraph-7.6.1] startup +[1.673s] [ext: omni.resourcemonitor-107.0.1] startup +[1.675s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.676s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.685s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.685s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.688s] [ext: omni.graph.exec-0.9.6] startup +[1.689s] [ext: omni.timeline-1.0.14] startup +[1.691s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.692s] [ext: omni.kit.exec.core-0.13.4] startup +[1.694s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.700s] [ext: omni.usd-1.13.10] startup +[1.724s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.744s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.744s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.751s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.760s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.765s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.766s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.767s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.798s] [ext: omni.inspect-1.0.2] startup +[1.800s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.801s] [ext: omni.graph.core-2.184.5] startup +[1.805s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.805s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.806s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.813s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.817s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.818s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.821s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.822s] [ext: omni.kit.clipboard-1.0.5] startup +[1.822s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.831s] [ext: omni.ui.scene-1.11.5] startup +[1.835s] [ext: omni.index.libs-380600.8087.0] startup +[1.835s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.841s] [ext: omni.index-1.0.1] startup +[1.842s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.843s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.846s] [ext: omni.volume-0.5.2] startup +[1.851s] [ext: omni.ujitso.client-0.0.0] startup +[1.851s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.853s] [ext: omni.kit.menu.core-1.1.2] startup +[1.853s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-22T08:34:31Z [1,846ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.912s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.913s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.918s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.919s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.924s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.934s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.941s] [ext: omni.kit.context_menu-1.8.6] startup +[1.943s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.946s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.947s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.949s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.956s] [ext: omni.kit.material.library-2.0.7] startup +[1.960s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.961s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.964s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.979s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.979s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.981s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.981s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.982s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.983s] [ext: omni.kit.browser.core-2.3.13] startup +[1.986s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.987s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.998s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.002s] [ext: omni.kit.window.file-2.0.5] startup +[2.005s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.005s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.006s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.008s] [ext: omni.graph.tools-1.79.2] startup +DEBUG:AutoNode:Defining data type 'any' as 'Any' +DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray +DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle' +DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray +DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray +DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray +DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray +DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray +DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray +DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray +DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array +DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array +DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array +DEBUG:AutoNode:Defining data type 'execution' as 'Execution' +DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray +DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array +DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array +DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array +DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray +DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray +DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array +DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array +DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array +DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray +DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array +DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array +DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array +DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array +DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray +DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray +DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray +DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray +DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray +DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray +DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray +DEBUG:AutoNode:Defining data type 'path' as 'Path' +DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray +DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray +DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray +DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray +DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray +DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray +DEBUG:AutoNode:Defining data type 'string' as 'String' +DEBUG:AutoNode:Defining data type 'target' as 'Target' +DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray +DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray +DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray +DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray +DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray +DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray +DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray +DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray +DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray +DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray +DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array +DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray +DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray +DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray +[2.031s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.039s] [ext: omni.kit.usdz_export-1.0.9] startup +[2.041s] [ext: omni.graph.action_core-1.1.7] startup +[2.042s] [ext: omni.graph-1.141.2] startup +[2.076s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[2.077s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[2.081s] [ext: omni.graph.action_nodes-1.50.4] startup +[2.087s] [ext: omni.kit.window.stage-2.6.1] startup +[2.094s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.095s] [ext: omni.graph.action-1.130.0] startup +[2.096s] [ext: omni.kit.menu.stage-1.2.7] startup +[2.098s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.103s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.105s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.113s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.120s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.126s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.128s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.130s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.150s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.153s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.155s] [ext: omni.kit.window.property-1.12.1] startup +[2.158s] [ext: omni.ui_query-1.1.8] startup +[2.159s] [ext: omni.kit.property.usd-4.5.12] startup +[2.177s] [ext: omni.kit.menu.create-2.0.1] startup +[2.181s] [ext: isaacsim.core.version-2.0.6] startup +[2.182s] [ext: omni.kit.ui_test-1.3.7] startup +[2.184s] [ext: omni.kit.scripting-107.3.2] startup +[2.189s] [ext: omni.convexdecomposition-107.3.26] startup +[2.196s] [ext: isaacsim.storage.native-1.5.1] startup +[2.198s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.210s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.217s] [ext: omni.kvdb-107.3.26] startup +[2.220s] [ext: omni.usdphysics-107.3.26] startup +[2.225s] [ext: omni.physx.foundation-107.3.26] startup +[2.228s] [ext: omni.localcache-107.3.26] startup +[2.230s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.240s] [ext: omni.physx.cooking-107.3.26] startup +[2.247s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.249s] [ext: omni.physx-107.3.26] startup +[2.262s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.271s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.273s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.281s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.288s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.291s] [ext: isaacsim.gui.components-1.2.1] startup +[2.295s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.301s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.404s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.412s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.416s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.423s] [ext: omni.fabric.commands-1.1.6] startup +[2.427s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.429s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.432s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.448s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.451s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.451s] [ext: omni.debugdraw-0.1.4] startup +[2.458s] [ext: omni.physics-107.3.26] startup +[2.461s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.482s] [ext: omni.physx.commands-107.3.26] startup +[2.489s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.492s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.495s] [ext: omni.physx.ui-107.3.26] startup +[2.531s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.540s] [ext: omni.physx.supportui-107.3.26] startup +[2.555s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.557s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.559s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.566s] [ext: omni.physics.physx-107.3.26] startup +2026-09-22T08:34:32Z [2,529ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.569s] [ext: omni.physics.tensors-107.3.26] startup +[2.576s] [ext: omni.warp.core-1.8.2] startup +[2.691s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.694s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-22T08:34:32Z [2,660ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.701s] [ext: omni.physx.tensors-107.3.26] startup +[2.706s] [ext: isaacsim.core.utils-3.5.1] startup +[2.710s] [ext: omni.graph.image.core-0.6.1] startup +[2.711s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.794s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.796s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.798s] [ext: isaacsim.core.prims-0.6.1] startup +[2.816s] [ext: omni.syntheticdata-0.6.13] startup +[2.829s] [ext: isaacsim.core.api-4.8.0] startup +[2.847s] [ext: omni.videoencoding-0.1.2] startup +[2.850s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.852s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.855s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.856s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.856s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.860s] [ext: omni.graph.nodes-1.170.10] startup +[2.870s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.873s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.878s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-22T08:34:32Z [2,839ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.879s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.890s] [ext: omni.warp-1.8.2] startup +[2.895s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.909s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.911s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.924s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.958s] [ext: omni.replicator.core-1.12.27] startup +2026-09-22T08:34:32Z [2,930ms] [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 +2026-09-22T08:34:32Z [3,063ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-22T08:34:32Z [3,063ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-22T08:34:32Z [3,063ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.105s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.108s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.116s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.128s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-22T08:34:33Z [3,089ms] [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. +[3.131s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.161s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.296s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.387s] [ext: isaacsim.core.throttling-2.2.2] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.419s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.424s] [ext: omni.flowusd-107.1.8] startup +2026-09-22T08:34:33Z [3,391ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.437s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.439s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-22T08:34:33Z [3,402ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.443s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-22T08:34:33Z [3,407ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.447s] [ext: omni.anim.curve.core-1.3.1] startup +[3.471s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-22T08:34:33Z [3,432ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T08:34:33Z [3,433ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-22T08:34:33Z [3,448ms] [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. +[3.488s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.499s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-22T08:34:33Z [3,460ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.501s] [ext: omni.kit.selection-0.1.6] startup +[3.505s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.510s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-22T08:34:33Z [3,471ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,471ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,471ms] [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. +2026-09-22T08:34:33Z [3,473ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,473ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,473ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,474ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,474ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,475ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-22T08:34:33Z [3,476ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.518s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.538s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.548s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.562s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-22T08:34:33Z [3,524ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.565s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.575s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-22T08:34:33Z [3,538ms] [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. +2026-09-22T08:34:33Z [3,540ms] [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. +2026-09-22T08:34:33Z [3,540ms] [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. +2026-09-22T08:34:33Z [3,540ms] [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. +2026-09-22T08:34:33Z [3,540ms] [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. +2026-09-22T08:34:33Z [3,540ms] [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. +2026-09-22T08:34:33Z [3,541ms] [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. +2026-09-22T08:34:33Z [3,541ms] [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. +2026-09-22T08:34:33Z [3,543ms] [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. +2026-09-22T08:34:33Z [3,543ms] [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. +2026-09-22T08:34:33Z [3,543ms] [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. +2026-09-22T08:34:33Z [3,543ms] [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. +2026-09-22T08:34:33Z [3,544ms] [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. +2026-09-22T08:34:33Z [3,544ms] [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. +2026-09-22T08:34:33Z [3,544ms] [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. +2026-09-22T08:34:33Z [3,545ms] [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. +[3.585s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-22T08:34:33Z [3,548ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.590s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-22T08:34:33Z [3,553ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-22T08:34:33Z [3,553ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.593s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-22T08:34:33Z [3,555ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.595s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-22T08:34:33Z [3,557ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.597s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.607s] [ext: omni.isaac.utils-2.0.6] startup +[3.609s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.622s] [ext: isaacsim.app.about-2.0.11] startup +[3.625s] [ext: omni.isaac.version-2.0.7] startup +2026-09-22T08:34:33Z [3,587ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.627s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.628s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-22T08:34:33Z [3,591ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-22T08:34:33Z [3,591ms] [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. +2026-09-22T08:34:33Z [3,591ms] [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. +2026-09-22T08:34:33Z [3,592ms] [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. +2026-09-22T08:34:33Z [3,593ms] [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. +2026-09-22T08:34:33Z [3,593ms] [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. +2026-09-22T08:34:33Z [3,593ms] [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. +2026-09-22T08:34:33Z [3,594ms] [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. +2026-09-22T08:34:33Z [3,594ms] [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. +2026-09-22T08:34:33Z [3,594ms] [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. +2026-09-22T08:34:33Z [3,594ms] [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. +2026-09-22T08:34:33Z [3,595ms] [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. +[3.635s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-22T08:34:33Z [3,600ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-22T08:34:33Z [3,601ms] [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. +[3.642s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.651s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-22T08:34:33Z [3,612ms] [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. +[3.652s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.662s] [ext: omni.kit.property.audio-1.0.16] startup +[3.664s] [ext: omni.kit.property.camera-1.0.10] startup +[3.666s] [ext: omni.sensors.net-1.0.0] startup +[3.672s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.680s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.685s] [ext: omni.kit.property.light-1.0.12] startup +[3.740s] [ext: omni.kit.property.material-1.11.9] startup +[3.749s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.753s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.756s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.768s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.778s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.784s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.789s] [ext: omni.kit.property.render-1.2.1] startup +[3.790s] [ext: omni.kit.property.transform-1.5.13] startup +[3.795s] [ext: isaacsim.gui.property-1.1.3] startup +[3.798s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.808s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.818s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.829s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.834s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.839s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-22T08:34:33Z [3,800ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-22T08:34:33Z [3,801ms] [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. +[3.841s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-22T08:34:33Z [3,802ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-22T08:34:33Z [3,802ms] [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. +[3.842s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.860s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-22T08:34:33Z [3,821ms] [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. +2026-09-22T08:34:33Z [3,822ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-22T08:34:33Z [3,822ms] [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. +2026-09-22T08:34:33Z [3,822ms] [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. +2026-09-22T08:34:33Z [3,822ms] [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. +2026-09-22T08:34:33Z [3,822ms] [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. +2026-09-22T08:34:33Z [3,823ms] [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. +2026-09-22T08:34:33Z [3,824ms] [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. +2026-09-22T08:34:33Z [3,824ms] [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. +2026-09-22T08:34:33Z [3,825ms] [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. +2026-09-22T08:34:33Z [3,825ms] [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. +[3.866s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-22T08:34:33Z [3,828ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.872s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.878s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.880s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.883s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.886s] [ext: omni.ocio-0.1.1] startup +[3.889s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.901s] [ext: omni.kit.window.console-1.1.4] startup +[3.913s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.919s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-22T08:34:33Z [3,880ms] [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. +[3.920s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.926s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.933s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.944s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-22T08:34:33Z [3,906ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.946s] [ext: semantics.schema.editor-2.0.2] startup +[3.951s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.952s] [ext: semantics.schema.property-2.0.1] startup +[3.954s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-22T08:34:33Z [3,915ms] [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. +2026-09-22T08:34:33Z [3,915ms] [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. +2026-09-22T08:34:33Z [3,916ms] [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. +[3.956s] [ext: omni.isaac.core-4.0.7] startup +2026-09-22T08:34:33Z [3,918ms] [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. +2026-09-22T08:34:33Z [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. +2026-09-22T08:34:33Z [3,919ms] [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. +2026-09-22T08:34:33Z [3,919ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.959s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.971s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.978s] [ext: omni.kit.menu.common-2.0.1] startup +[3.980s] [ext: isaacsim.exp.base-5.1.0] startup +[3.981s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.981s] Simulation App Starting +2026-09-22T08:34:34Z [4,118ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-22T08:34:34Z [4,140ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[4.207s] app ready +[6.619s] Simulation App Startup Complete +[6.927s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-22T08:34:36Z [7,043ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-22T08:34:37Z [8,018ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.986] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:13.008] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-22T08:35:39Z [70,064ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:35:45Z [75,229ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,229ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,230ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,343ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,343ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,383ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,416ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,416ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,416ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,416ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,447ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,477ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,477ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,510ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,511ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,511ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,516ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:45Z [75,516ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,255ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,282ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,299ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,299ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,313ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,313ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,318ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,318ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,463ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,463ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,463ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,464ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,852ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,852ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,853ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,853ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,878ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,879ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,879ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,965ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-22T08:35:46Z [76,966ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-22T08:35:47Z [77,952ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:24.032] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:24.072] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-22T08:35:58Z [88,261ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:35.500] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:35.502] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +2026-09-22T08:36:01Z [91,572ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:36:01Z [91,573ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:36:01Z [91,574ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:36:01Z [91,575ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:36:04Z [94,387ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-22T08:36:14Z [104,710ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +2026-09-22T08:36:14Z [104,790ms] [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 +2026-09-22T08:36:24Z [115,069ms] [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 +2026-09-22T08:36:25Z [115,169ms] [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 +2026-09-22T08:37:48Z [198,455ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 240 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 360 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 480 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 600 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 720 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 840 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 960 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 1080 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 1200 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 1320 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 1440 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': 'can_of_soda_113', 'right': 'can_of_soda_114'} +RECOVERY progress 1560 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1680 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1800 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': 'can_of_soda_114'} +RECOVERY progress 1920 deposit_can {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2040 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2160 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2280 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2400 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2520 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2640 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2760 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 2880 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3000 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3120 recover_grasp_from_existing_contact {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3240 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3360 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3480 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3600 grasp_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3720 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3840 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 3960 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4080 bin_grasp_micro_search {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4200 clear_failed_grasp_before_navigation {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4320 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4440 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +RECOVERY progress 4560 navigate_to_bin {'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 258, in pick + self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 171, in approach + self.route(np.r_[chosen["xy"], chosen["yaw"]]) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 138, in route + self.r.navigate(np.r_[xy, goal[2]], max_steps=budget) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/control.py", line 486, in navigate + raise RecoveryFailure("navigation_soft_tilt_budget_exhausted") +task01_recovery.control.RecoveryFailure: navigation_soft_tilt_budget_exhausted + +2026-09-22T08:51:32Z [1,022,899ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:51:32Z [1,022,899ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-22T08:51:32Z [1,022,899ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[1023.035s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..4dfaeda933e1ed75d1cc7c7a86894fcf8f8bbe3f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8ba7581f39f72334bcd8ba6ef86a9cab711e8a04ad2db86ecb0a08b4b70b5d1 +size 4806 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..198308847eb56bedba580287cd6a6db241f9a881 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae80b2eb24841187378f8214af266028dee84c57b4596e4c1f8d8e1bfc42fdfe +size 73050292 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f4eb10109af0e4796cb6bb3efb8d39720c68c3a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e0f543f653fc87209e286e975022a77c1bc186eca73aa938f33014bf679a472 +size 10681849 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/case.json new file mode 100644 index 0000000000000000000000000000000000000000..0af5634136c72eee23aa387e235a4432c88454c5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017330-f008301", + "kind": "vla", + "episode_id": "00017330", + "instance_id": 733, + "source_n_steps": 10536, + "seed_rank": 3, + "n_seeds_in_episode": 4, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017330.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017330.json", + "frame": 8301, + "start_type": "judgement_seed", + "chunk_index": 3, + "chunk_span": [ + 8301, + 10535 + ], + "reason": "Row's first frame per the no-progress rule \u2014 both hands loaded (right holds can_114 from f7416, left holds can_113 from f8131) and log records no grasp/release for the remaining 2235 frames. Only NextTo/Touching flips between the two held cans f9003-f10098, none goal-relevant, then nothing to f10535. Arm forced to right (holds can_114). Same off-distribution note as row 3 \u2014 placing into a tipped trash can is not covered by demos." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..e83c5ca18b5d7d2dfa92f05ac3a8d01b9ba6b8d2 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017330-f008301/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017330-f008301", + "episode_id": "00017330", + "instance_id": 733, + "start_type": "judgement_seed", + "source_frame": 8301, + "attempt": "attempt_001", + "completed_at": "2026-09-22T08:55:18+00:00", + "success": false, + "status": "error", + "error": 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{ + "case_id": "vla-episode_00017340-f005649", + "kind": "vla", + "episode_id": "00017340", + "instance_id": 734, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017340.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017340.json", + "frame": 5649, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 5649, + 10535 + ], + "reason": "Immediately after C2 completes (Inside(can_114, trash_can) true at f5648) the correct next action is B3 \u2014 pick can_115 from floor. Robot never attempts it: the log has no IsGrasping entry for can_115 across the whole episode, and head-view sweeps at stride 200 across [5700, 10500] show drift toward the couch and walls, not an approach to a floor can. Instead the trash can dangles near floor level and OnTop(trash_can, floor) flips true briefly at f6053, f6103, f6164, f6514 while still gripped, which over the next few thousand frames shakes the contents out \u2014 can_114 Inside false at f8991, on floor f9161; can_113 Inside false at f9310, on floor f9423. Seed at f5649 is the earliest and only defensible frame: later frames restore a state where placed cans have already regressed, from which pick can_115 could still execute but the overall episode goal cannot be reached without also re-collecting the spilled cans. Arm forced to left \u2014 right is still holding the trash can and the demos never release it during phase B/C." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..521a7837de8732cef2424ff85bdd2717572527e6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/events.jsonl @@ -0,0 +1,262 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": 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{"can__of__soda.n.01_1": [4.013425827026367, 6.522122383117676, 0.3011680841445923], "can__of__soda.n.01_3": [4.049684524536133, 6.5703253746032715, 0.2065463364124298], "can__of__soda.n.01_2": [4.0560431480407715, 6.612618923187256, 0.3108336925506592], "ashcan.n.01_1": [4.042427062988281, 6.560315132141113, 0.3020719885826111]}, "robot_pose": [[4.414991855621338, 5.995696544647217, 0.005285412073135376], [-7.50366598367691e-05, 3.005460894200951e-05, 0.8929577469825745, 0.45014068484306335]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..7720ca21545cb8f44879941020df3b8edc55c17c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1472 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.176s] [ext: omni.physics.tensors-107.3.26] startup +[2.179s] [ext: omni.warp.core-1.8.2] startup +[2.296s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.298s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T16:20:19Z [2,187ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.313s] [ext: omni.physx.tensors-107.3.26] startup +[2.318s] [ext: isaacsim.core.utils-3.5.1] startup +[2.320s] [ext: omni.graph.image.core-0.6.1] startup +[2.322s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.400s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.402s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.403s] [ext: isaacsim.core.prims-0.6.1] startup +[2.419s] [ext: omni.syntheticdata-0.6.13] startup +[2.434s] [ext: isaacsim.core.api-4.8.0] startup +[2.446s] [ext: omni.videoencoding-0.1.2] startup +[2.449s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.450s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.452s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.454s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.455s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.460s] [ext: omni.graph.nodes-1.170.10] startup +[2.474s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.476s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.479s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T16:20:19Z [2,354ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.480s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.487s] [ext: omni.warp-1.8.2] startup +[2.491s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.515s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.521s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.559s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.602s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T16:20:19Z [2,495ms] [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 +2026-09-19T16:20:19Z [2,571ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T16:20:19Z [2,571ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T16:20:19Z [2,571ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.699s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.702s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.706s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.713s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T16:20:19Z [2,590ms] [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. +[2.716s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.719s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.731s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.742s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.751s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.763s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T16:20:19Z [2,643ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.773s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.782s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T16:20:19Z [2,668ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.799s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T16:20:19Z [2,684ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.811s] [ext: omni.anim.curve.core-1.3.1] startup +[2.854s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T16:20:20Z [2,730ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:20:20Z [2,732ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:20:20Z [2,789ms] [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. +[2.915s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.928s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T16:20:20Z [2,805ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.930s] [ext: omni.kit.selection-0.1.6] startup +[2.933s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.010s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T16:20:20Z [2,889ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,902ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,906ms] [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. +2026-09-19T16:20:20Z [2,918ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,922ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,934ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,934ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,934ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,935ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:20:20Z [2,941ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.080s] [ext: isaacsim.gui.menu-2.4.4] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.128s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.143s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.156s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T16:20:20Z [3,032ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.157s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.162s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T16:20:20Z [3,040ms] [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. +2026-09-19T16:20:20Z [3,041ms] [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. +2026-09-19T16:20:20Z [3,042ms] [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. +2026-09-19T16:20:20Z [3,043ms] [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. +2026-09-19T16:20:20Z [3,044ms] [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. +2026-09-19T16:20:20Z [3,045ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T16:20:20Z [3,045ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T16:20:20Z [3,045ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T16:20:20Z [3,046ms] [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. +2026-09-19T16:20:20Z [3,046ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-19T16:20:20Z [3,046ms] [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. +2026-09-19T16:20:20Z [3,047ms] [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. +2026-09-19T16:20:20Z [3,047ms] [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. +2026-09-19T16:20:20Z [3,047ms] [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. +2026-09-19T16:20:20Z [3,047ms] [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. +2026-09-19T16:20:20Z [3,047ms] [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. +[3.173s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T16:20:20Z [3,049ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.175s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T16:20:20Z [3,056ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T16:20:20Z [3,056ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.182s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T16:20:20Z [3,057ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.183s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T16:20:20Z [3,059ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.185s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.191s] [ext: omni.isaac.utils-2.0.6] startup +[3.193s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.214s] [ext: isaacsim.app.about-2.0.11] startup +[3.217s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T16:20:20Z [3,092ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.218s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.219s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T16:20:20Z [3,096ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:20:20Z [3,097ms] [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. +2026-09-19T16:20:20Z [3,097ms] [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. +2026-09-19T16:20:20Z [3,097ms] [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. +2026-09-19T16:20:20Z [3,097ms] [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. +2026-09-19T16:20:20Z [3,098ms] [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. +2026-09-19T16:20:20Z [3,099ms] [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. +2026-09-19T16:20:20Z [3,099ms] [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. +2026-09-19T16:20:20Z [3,100ms] [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. +2026-09-19T16:20:20Z [3,100ms] [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. +2026-09-19T16:20:20Z [3,100ms] [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. +2026-09-19T16:20:20Z [3,101ms] [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. +[3.228s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T16:20:20Z [3,112ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T16:20:20Z [3,113ms] [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. +[3.238s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.244s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T16:20:20Z [3,119ms] [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. +[3.244s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.253s] [ext: omni.kit.property.audio-1.0.16] startup +[3.254s] [ext: omni.kit.property.camera-1.0.10] startup +[3.256s] [ext: omni.sensors.net-1.0.0] startup +[3.259s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.263s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.266s] [ext: omni.kit.property.light-1.0.12] startup +[3.322s] [ext: omni.kit.property.material-1.11.9] startup +[3.327s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.328s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.330s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.335s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.341s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.345s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.349s] [ext: omni.kit.property.render-1.2.1] startup +[3.350s] [ext: omni.kit.property.transform-1.5.13] startup +[3.353s] [ext: isaacsim.gui.property-1.1.3] startup +[3.355s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.362s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.366s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.374s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.378s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.379s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T16:20:20Z [3,255ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T16:20:20Z [3,255ms] [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. +[3.380s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T16:20:20Z [3,258ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T16:20:20Z [3,258ms] [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. +[3.383s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.396s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,273ms] [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. +2026-09-19T16:20:20Z [3,274ms] [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. +2026-09-19T16:20:20Z [3,274ms] [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. +2026-09-19T16:20:20Z [3,274ms] [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. +[3.399s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T16:20:20Z [3,277ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.402s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.412s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.416s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.417s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.419s] [ext: omni.ocio-0.1.1] startup +[3.422s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.429s] [ext: omni.kit.window.console-1.1.4] startup +[3.440s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.450s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T16:20:20Z [3,326ms] [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. +[3.451s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.459s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.467s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.483s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T16:20:20Z [3,358ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.483s] [ext: semantics.schema.editor-2.0.2] startup +[3.490s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.492s] [ext: semantics.schema.property-2.0.1] startup +[3.494s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T16:20:20Z [3,369ms] [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. +2026-09-19T16:20:20Z [3,369ms] [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. +2026-09-19T16:20:20Z [3,370ms] [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. +[3.495s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T16:20:20Z [3,372ms] [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. +2026-09-19T16:20:20Z [3,373ms] [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. +2026-09-19T16:20:20Z [3,373ms] [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. +2026-09-19T16:20:20Z [3,373ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.499s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.509s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.515s] [ext: omni.kit.menu.common-2.0.1] startup +[3.516s] [ext: isaacsim.exp.base-5.1.0] startup +[3.517s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.519s] Simulation App Starting +2026-09-19T16:20:21Z [3,739ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.900s] app ready +[6.610s] Simulation App Startup Complete +[6.933s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T16:20:24Z [6,962ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T16:20:25Z [7,877ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.710] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.982] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T16:21:30Z [73,076ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:21:33Z [75,960ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [75,961ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [75,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [75,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [75,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [75,963ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,114ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,115ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,157ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,207ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,247ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,248ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,248ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,248ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,285ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,322ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,328ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:33Z [76,328ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,209ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,252ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,252ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,256ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,262ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,267ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,267ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,272ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,272ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,278ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,418ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:34Z [77,419ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,830ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,830ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,831ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,831ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,858ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,858ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,859ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,859ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:21:35Z [77,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:21:36Z [78,973ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:23.109] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:23.176] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:21:45Z [87,902ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:32.454] [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. +[00:01:32.456] [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. +2026-09-19T16:21:45Z [88,661ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:21:45Z [88,662ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:21:45Z [88,663ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:21:45Z [88,664ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:21:48Z [91,642ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:21:55Z [98,382ms] [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 +2026-09-19T16:22:03Z [106,317ms] [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 +2026-09-19T16:22:16Z [118,725ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 grasp_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-19T16:25:31Z [314,593ms] [Warning] [omni.physx.tensors.plugin] Incomplete contact data is reported in CpuRigidContactView::getContactData because there are more contact data points than specified maxContactDataCount = 32. +2026-09-19T16:25:31Z [314,623ms] [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_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1080 coordinate_bin_under_can {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1200 orient_bin_for_gravity {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1320 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1440 meet_hands_for_drop {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_115', 'right': 'trash_can_116'} +RECOVERY progress 1560 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-19T16:26:51Z [394,583ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:26:51Z [394,583ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:26:51Z [394,583ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[394.806s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..7d043f2cf05b3e2fd015920e3a0a528d27fbd734 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017340-f005649/attempt_001/supervision_mask.npy 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"unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[6.357354164123535, 0.3883001208305359, 0.6048378348350525], [0.9666739702224731, 0.1620461344718933, -0.19618098437786102, 0.02820802852511406]], "right": [[6.337888717651367, 0.8779606819152832, 0.6667749285697937], [0.9421482682228088, 0.11621499061584473, 0.3058740198612213, -0.07274526357650757]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.109983444213867, 4.980148792266846, 0.07145710289478302], "can__of__soda.n.01_3": [4.167893409729004, 5.727305889129639, 0.06461402028799057], "can__of__soda.n.01_2": [5.493058681488037, 3.7837026119232178, 0.0714571624994278], "ashcan.n.01_1": [3.8510262966156006, 0.37672048807144165, 0.134835883975029]}, "robot_pose": [[6.55354118347168, 0.6869248747825623, 0.005285203456878662], [7.802620530128479e-05, 2.197128560510464e-05, -0.983403205871582, 0.18143342435359955]]}} +{"step": 353, "event": "tuck_idle_arm", "arm": "left", "target_local": [0.3, 0.22, 0.45]} +{"step": 353, "event": "eef_target", "arm": "left", "body_xyz": [0.2923024543428677, 0.21171044559737562, 0.5622018946946131], "world_xyz": [6.355948709807269, 0.3848059199170426, 0.5674367483718257], "held": {"left": null, "right": null}} +{"step": 353, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 353, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 371, "event": "joint_tracking", "max_error_rad": 1.8775463104248047e-06} +{"step": 371, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.355926036834717, 0.38479477167129517, 0.5675371885299683], "desired_xyz": [6.355948709807269, 0.3848059199170426, 0.5674367483718257], "error_m": 0.00010356916739692226} +{"step": 371, "event": "eef_target", "arm": "left", "body_xyz": [0.29487435207614254, 0.2144748789223903, 0.5248010634142535], "world_xyz": [6.354543255491002, 0.3813117190035494, 0.5300356619085984], "held": {"left": null, "right": null}} +{"step": 371, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 371, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 389, "event": "joint_tracking", "max_error_rad": 7.674098014831543e-07} +{"step": 389, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.354517936706543, 0.38129884004592896, 0.5301292538642883], "desired_xyz": [6.354543255491002, 0.3813117190035494, 0.5300356619085984], "error_m": 9.780778376870022e-05} +{"step": 389, "event": "eef_target", "arm": "left", "body_xyz": [0.2974452149615504, 0.21723926879862243, 0.4874000831570306], "world_xyz": [6.353137801174736, 0.37781751809005604, 0.4926345754453718], "held": {"left": null, "right": null}} +{"step": 389, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 389, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 407, "event": "joint_tracking", "max_error_rad": 1.8551945686340332e-06} +{"step": 407, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.35311222076416, 0.3778097629547119, 0.49271148443222046], "desired_xyz": [6.353137801174736, 0.37781751809005604, 0.4926345754453718], "error_m": 8.14216911363555e-05} +{"step": 407, "event": "eef_target", "arm": "left", "body_xyz": [0.3000153069670883, 0.22000624191143217, 0.449999832232133], "world_xyz": [6.351732346858469, 0.3743233171765629, 0.4552334889821445], "held": {"left": null, "right": null}} +{"step": 407, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 407, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 425, "event": "joint_tracking", "max_error_rad": 1.944601535797119e-06} +{"step": 425, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.351710319519043, 0.37431642413139343, 0.45529624819755554], "desired_xyz": [6.351732346858469, 0.3743233171765629, 0.4552334889821445], "error_m": 6.686880343566516e-05} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 425, "event": "approach_candidates", "key": "pick_bin", "target": [3.8510262966156006, 0.37672048807144165], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 425, "event": "primitive_failure", "operation": "pick_bin", "reason": "no_traversable_route", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..56577238e87da8f0fbb051e36daeef044a76bf8a --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/425 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 258, in pick\n self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 168, in approach\n raise RecoveryFailure(\"no_traversable_route\")\ntask01_recovery.control.RecoveryFailure: no_traversable_route\n", + "steps": 425, + "final_task": { + "inside": { + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 6.351710319519043, + 0.37431642413139343, + 0.45529624819755554 + ], + [ + 0.9667159914970398, + 0.16204489767551422, + -0.19598045945167542, + 0.028168799355626106 + ] + ], + "right": [ + [ + 6.295654296875, + 0.861676812171936, + 0.5199747681617737 + ], + [ + 0.904058575630188, + 0.11195158213376999, + 0.4010864794254303, + -0.09630553424358368 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_1": [ + 4.109983444213867, + 4.980148792266846, + 0.07145710289478302 + ], + "can__of__soda.n.01_3": [ + 4.167893409729004, + 5.727305889129639, + 0.06461402028799057 + ], + "can__of__soda.n.01_2": [ + 5.493058681488037, + 3.7837026119232178, + 0.0714571624994278 + ], + "ashcan.n.01_1": [ + 3.8510262966156006, + 0.37672048807144165, + 0.134835883975029 + ] + }, + "robot_pose": [ + [ + 6.553560256958008, + 0.6869369149208069, + 0.00528523325920105 + ], + [ + 7.794983685016632e-05, + 2.1817384549649432e-05, + -0.9834043383598328, + 0.18142738938331604 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 521 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4c689f4a4f3496fa8418a0f788c3aaa97ad7b67d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caeca8fdee158efdae82f61455d1c2c7afa490f032be46b7c4d2ee2a52221af6 +size 422478 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..11e82d1006afd88909eb1628e4a440ce69b62152 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/run.log @@ -0,0 +1,630 @@ +RECOVERY building environment +[00:00:03.792] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260920_002147.log +[0.052s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.106s] [ext: omni.metrics.core-0.0.3] startup +[0.106s] [ext: omni.client.lib-1.1.0] startup +[0.116s] [ext: omni.blobkey-1.1.2] startup +[0.116s] [ext: omni.stats-1.0.1] startup +[0.116s] [ext: omni.datastore-0.0.0] startup +[0.120s] [ext: omni.client-1.3.0] startup +[0.123s] [ext: omni.ujitso.default-1.0.0] startup +[0.124s] [ext: omni.hsscclient-1.1.2] startup +[0.142s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.144s] [ext: omni.assets.plugins-0.0.0] startup +[0.145s] [ext: omni.gpu_foundation-0.0.0] startup +[0.151s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-19T16:21:47Z [137ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:47Z [137ms] [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) +[0.153s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-19T16:21:47Z [169ms] [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: 43778 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-19T16:21:48Z [664ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.810s] [ext: omni.materialx.libs-1.0.7] startup +[0.816s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.816s] [ext: omni.kit.test-2.0.1] startup +[0.831s] [ext: omni.usd.config-1.0.6] startup +[0.833s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.833s] [ext: omni.usd.libs-1.0.1] startup +[0.925s] [ext: omni.kit.telemetry-0.5.2] startup +[0.944s] [ext: omni.mdl-56.0.3] startup +[0.960s] [ext: omni.iray.libs-0.0.0] startup +[0.964s] [ext: omni.mdl.neuraylib-0.2.12] startup +[0.966s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.047s] [ext: omni.kit.pipapi-0.0.0] startup +[1.048s] [ext: omni.appwindow-1.1.10] startup +2026-09-19T16:21:48Z [1,034ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,034ms] [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) +[1.052s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-19T16:21:48Z [1,051ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,051ms] [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) +2026-09-19T16:21:48Z [1,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,059ms] [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) +[1.076s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.078s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-19T16:21:48Z [1,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,065ms] [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) +2026-09-19T16:21:48Z [1,067ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,067ms] [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) +2026-09-19T16:21:48Z [1,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:21:48Z [1,068ms] [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) +[1.147s] [ext: omni.ui-2.27.1] startup +[1.155s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.156s] [ext: carb.audio-0.1.0] startup +[1.163s] [ext: omni.uiaudio-1.0.0] startup +[1.165s] [ext: omni.kit.uiapp-0.0.0] startup +[1.165s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.168s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.174s] [ext: omni.usd_resolver-1.0.0] startup +[1.181s] [ext: omni.usd.core-1.5.3] startup +[1.186s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.207s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.230s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.234s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.239s] [ext: omni.kit.actions.core-1.0.0] startup +[1.241s] [ext: omni.activity.core-1.0.3] startup +[1.242s] [ext: omni.kit.commands-1.4.10] startup +[1.245s] [ext: usdrt.scenegraph-7.6.1] startup +[1.285s] [ext: omni.resourcemonitor-107.0.1] startup +[1.287s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.288s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.296s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.296s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.299s] [ext: omni.graph.exec-0.9.6] startup +[1.300s] [ext: omni.timeline-1.0.14] startup +[1.301s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.302s] [ext: omni.kit.exec.core-0.13.4] startup +[1.303s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.310s] [ext: omni.usd-1.13.10] startup +[1.336s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.346s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.346s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.354s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.362s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.367s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.367s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.368s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.392s] [ext: omni.inspect-1.0.2] startup +[1.393s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.395s] [ext: omni.graph.core-2.184.5] startup +[1.397s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.398s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.398s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.404s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.407s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.408s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.411s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.411s] [ext: omni.kit.clipboard-1.0.5] startup +[1.412s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.419s] [ext: omni.ui.scene-1.11.5] startup +[1.422s] [ext: omni.index.libs-380600.8087.0] startup +[1.422s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.433s] [ext: omni.index-1.0.1] startup +[1.433s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.434s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.436s] [ext: omni.volume-0.5.2] startup +[1.438s] [ext: omni.ujitso.client-0.0.0] startup +[1.438s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.439s] [ext: omni.kit.menu.core-1.1.2] startup +[1.439s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-19T16:21:48Z [1,440ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.471s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.472s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.475s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.475s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.479s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.485s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.489s] [ext: omni.kit.context_menu-1.8.6] startup +[1.490s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.492s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.493s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.494s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.500s] [ext: omni.kit.material.library-2.0.7] startup +[1.504s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.504s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.508s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.520s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.521s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.522s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.522s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.523s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.523s] [ext: omni.kit.browser.core-2.3.13] startup +[1.525s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.526s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.533s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.535s] [ext: omni.kit.window.file-2.0.5] startup +[1.537s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.538s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.538s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.540s] [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 +[1.560s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.567s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.568s] [ext: omni.graph.action_core-1.1.7] startup +[1.570s] [ext: omni.graph-1.141.2] startup +[1.595s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.596s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.600s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.605s] [ext: omni.kit.window.stage-2.6.1] startup +[1.613s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.614s] [ext: omni.graph.action-1.130.0] startup +[1.615s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.616s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.619s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.620s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.623s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.641s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.646s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.648s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.649s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.661s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.662s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.663s] [ext: omni.kit.window.property-1.12.1] startup +[1.665s] [ext: omni.ui_query-1.1.8] startup +[1.666s] [ext: omni.kit.property.usd-4.5.12] startup +[1.672s] [ext: omni.kit.menu.create-2.0.1] startup +[1.674s] [ext: isaacsim.core.version-2.0.6] startup +[1.675s] [ext: omni.kit.ui_test-1.3.7] startup +[1.676s] [ext: omni.kit.scripting-107.3.2] startup +[1.679s] [ext: omni.convexdecomposition-107.3.26] startup +[1.681s] [ext: isaacsim.storage.native-1.5.1] startup +[1.683s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.689s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.692s] [ext: omni.kvdb-107.3.26] startup +[1.693s] [ext: omni.usdphysics-107.3.26] startup +[1.696s] [ext: omni.physx.foundation-107.3.26] startup +[1.697s] [ext: omni.localcache-107.3.26] startup +[1.698s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.702s] [ext: omni.physx.cooking-107.3.26] startup +[1.705s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.706s] [ext: omni.physx-107.3.26] startup +[1.714s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.718s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.722s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.727s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.734s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.736s] [ext: isaacsim.gui.components-1.2.1] startup +[1.739s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.742s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.806s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.809s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.814s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.823s] [ext: omni.fabric.commands-1.1.6] startup +[1.825s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.826s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.827s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.834s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.836s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.836s] [ext: omni.debugdraw-0.1.4] startup +[1.840s] [ext: omni.physics-107.3.26] startup +[1.842s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.859s] [ext: omni.physx.commands-107.3.26] startup +[1.862s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.864s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.865s] [ext: omni.physx.ui-107.3.26] startup +[1.885s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.889s] [ext: omni.physx.supportui-107.3.26] startup +[1.899s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.901s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.904s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.912s] [ext: omni.physics.physx-107.3.26] startup +2026-09-19T16:21:49Z [1,900ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.916s] [ext: omni.physics.tensors-107.3.26] startup +[1.923s] [ext: omni.warp.core-1.8.2] startup +[2.091s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.093s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T16:21:49Z [2,084ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.100s] [ext: omni.physx.tensors-107.3.26] startup +[2.105s] [ext: isaacsim.core.utils-3.5.1] startup +[2.109s] [ext: omni.graph.image.core-0.6.1] startup +[2.111s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.201s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.204s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.205s] [ext: isaacsim.core.prims-0.6.1] startup +[2.221s] [ext: omni.syntheticdata-0.6.13] startup +[2.231s] [ext: isaacsim.core.api-4.8.0] startup +[2.248s] [ext: omni.videoencoding-0.1.2] startup +[2.252s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.252s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.255s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.256s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.256s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.259s] [ext: omni.graph.nodes-1.170.10] startup +[2.267s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.270s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.273s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T16:21:49Z [2,258ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.273s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.279s] [ext: omni.warp-1.8.2] startup +[2.283s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.293s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.296s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.315s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.383s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T16:21:49Z [2,381ms] [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 +2026-09-19T16:21:49Z [2,440ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T16:21:49Z [2,440ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T16:21:49Z [2,440ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.458s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.462s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.468s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.475s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T16:21:49Z [2,461ms] [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. +[2.477s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.484s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.532s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.608s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.632s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.635s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T16:21:49Z [2,623ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.674s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.683s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T16:21:50Z [2,693ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.719s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T16:21:50Z [2,716ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.734s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.812s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T16:21:50Z [2,799ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:21:50Z [2,801ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:21:50Z [2,830ms] [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. +[2.846s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.861s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T16:21:50Z [2,849ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.865s] [ext: omni.kit.selection-0.1.6] startup +[2.868s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.883s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T16:21:50Z [2,869ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,869ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,869ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,871ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,871ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,871ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,871ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,872ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,872ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:21:50Z [2,872ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.888s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.903s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.915s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.924s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T16:21:50Z [2,910ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.926s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.938s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T16:21:50Z [2,926ms] [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. +2026-09-19T16:21:50Z [2,927ms] [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. +2026-09-19T16:21:50Z [2,930ms] [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. +2026-09-19T16:21:50Z [2,931ms] [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. +2026-09-19T16:21:50Z [2,934ms] [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. +2026-09-19T16:21:50Z [2,935ms] [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. +2026-09-19T16:21:50Z [2,935ms] [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. +2026-09-19T16:21:50Z [2,935ms] [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. +2026-09-19T16:21:50Z [2,937ms] [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. +2026-09-19T16:21:50Z [2,938ms] [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. +2026-09-19T16:21:50Z [2,942ms] [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. +2026-09-19T16:21:50Z [2,943ms] [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. +2026-09-19T16:21:50Z [2,943ms] [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. +2026-09-19T16:21:50Z [2,944ms] [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. +2026-09-19T16:21:50Z [2,944ms] [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. +2026-09-19T16:21:50Z [2,944ms] [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. +[2.961s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T16:21:50Z [2,949ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.968s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T16:21:50Z [2,953ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T16:21:50Z [2,954ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.970s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T16:21:50Z [2,956ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.972s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T16:21:50Z [2,958ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.976s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.982s] [ext: omni.isaac.utils-2.0.6] startup +[2.984s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.993s] [ext: isaacsim.app.about-2.0.11] startup +[2.998s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T16:21:50Z [2,984ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.001s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.004s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T16:21:50Z [2,991ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:21:50Z [2,991ms] [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. +2026-09-19T16:21:50Z [2,992ms] [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. +2026-09-19T16:21:50Z [2,993ms] [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. +2026-09-19T16:21:50Z [2,993ms] [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. +2026-09-19T16:21:50Z [2,993ms] [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. +2026-09-19T16:21:50Z [2,994ms] [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. +2026-09-19T16:21:50Z [2,995ms] [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. +2026-09-19T16:21:50Z [2,995ms] [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. +2026-09-19T16:21:50Z [2,996ms] [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. +2026-09-19T16:21:50Z [2,997ms] [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. +2026-09-19T16:21:50Z [2,999ms] [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. +[3.015s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T16:21:50Z [3,015ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T16:21:50Z [3,017ms] [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. +[3.033s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.051s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T16:21:50Z [3,036ms] [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. +[3.052s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.063s] [ext: omni.kit.property.audio-1.0.16] startup +[3.065s] [ext: omni.kit.property.camera-1.0.10] startup +[3.067s] [ext: omni.sensors.net-1.0.0] startup +[3.071s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.075s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.079s] [ext: omni.kit.property.light-1.0.12] startup +[3.126s] [ext: omni.kit.property.material-1.11.9] startup +[3.131s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.133s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.135s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.142s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.151s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.157s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.160s] [ext: omni.kit.property.render-1.2.1] startup +[3.161s] [ext: omni.kit.property.transform-1.5.13] startup +[3.165s] [ext: isaacsim.gui.property-1.1.3] startup +[3.167s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.174s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.179s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.188s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.191s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.193s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T16:21:50Z [3,180ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T16:21:50Z [3,180ms] [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. +[3.195s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T16:21:50Z [3,183ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T16:21:50Z [3,183ms] [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. +[3.198s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.210s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T16:21:50Z [3,197ms] [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. +2026-09-19T16:21:50Z [3,197ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T16:21:50Z [3,197ms] [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. +2026-09-19T16:21:50Z [3,197ms] [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. +2026-09-19T16:21:50Z [3,197ms] [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. +2026-09-19T16:21:50Z [3,197ms] [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. +2026-09-19T16:21:50Z [3,198ms] [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. +2026-09-19T16:21:50Z [3,198ms] [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. +2026-09-19T16:21:50Z [3,199ms] [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. +2026-09-19T16:21:50Z [3,200ms] [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. +2026-09-19T16:21:50Z [3,200ms] [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. +[3.215s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T16:21:50Z [3,203ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.219s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.224s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.232s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.233s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.235s] [ext: omni.ocio-0.1.1] startup +[3.237s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.246s] [ext: omni.kit.window.console-1.1.4] startup +[3.253s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.259s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T16:21:50Z [3,244ms] [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. +[3.260s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.264s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.268s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.276s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T16:21:50Z [3,261ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.277s] [ext: semantics.schema.editor-2.0.2] startup +[3.281s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.283s] [ext: semantics.schema.property-2.0.1] startup +[3.284s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T16:21:50Z [3,269ms] [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. +2026-09-19T16:21:50Z [3,269ms] [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. +2026-09-19T16:21:50Z [3,270ms] [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. +[3.285s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T16:21:50Z [3,271ms] [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. +2026-09-19T16:21:50Z [3,272ms] [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. +2026-09-19T16:21:50Z [3,272ms] [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. +2026-09-19T16:21:50Z [3,272ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.287s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.296s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.301s] [ext: omni.kit.menu.common-2.0.1] startup +[3.303s] [ext: isaacsim.exp.base-5.1.0] startup +[3.304s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.305s] Simulation App Starting +2026-09-19T16:21:50Z [3,333ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T16:21:50Z [3,353ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.394s] app ready +[5.229s] Simulation App Startup Complete +[5.524s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T16:21:52Z [5,593ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T16:21:53Z [6,473ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.317] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.569] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T16:22:52Z [64,823ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:22:54Z [67,215ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,338ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,373ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,374ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,410ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,411ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,411ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,411ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,449ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,449ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,449ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,450ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,492ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,492ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,534ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,535ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,542ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:54Z [67,542ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,324ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,350ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,350ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,367ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,367ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,371ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,371ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,376ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,377ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,382ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,392ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,536ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,536ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,536ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:55Z [68,536ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,822ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,823ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,823ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,847ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,848ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,937ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:22:56Z [68,937ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:22:57Z [69,816ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:13.952] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:13.997] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:23:05Z [77,756ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:22.268] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:22.270] [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. +2026-09-19T16:23:05Z [78,463ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:23:05Z [78,464ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:23:05Z [78,465ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:23:05Z [78,466ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:23:08Z [81,110ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:23:13Z [86,255ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 258, in pick + self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 168, in approach + raise RecoveryFailure("no_traversable_route") +task01_recovery.control.RecoveryFailure: no_traversable_route + +2026-09-19T16:30:19Z [512,379ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:30:19Z [512,379ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:30:19Z [512,379ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[512.487s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..f9e18242ada95c8d6bd6e8a4af391fbde25f3f69 --- /dev/null +++ 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b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..8776ff38428814c0cce56cb240b6b614c3ab2c34 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017350-f000000", + "kind": "vla", + "episode_id": "00017350", + "instance_id": 735, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 1, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017350.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017350.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 10535 + ], + "reason": "IsGrasping never flipped across the full 10536-frame episode (transitions: [], grasp_history: []); right wrist views at f700-f925, f3250-f4000, and f9500-f10500 show gripper approaching trash_can_116 repeatedly without closing. Progress never began, so f0 is the seed: it is the pristine starting state, before any failed approach, and equals the initial configuration of all 200 demo episodes." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..275b8f70e9f107f5da253b837124f06aa7e07a9e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017350-f000000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017350-f000000", + "episode_id": "00017350", + "instance_id": 735, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-19T16:30:54+00:00", + "success": false, 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"case_id": "vla-episode_00017360-f000000", + "kind": "vla", + "episode_id": "00017360", + "instance_id": 736, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017360.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 900 + ], + "reason": "Row is `ordering`: robot skipped card-mandated phase A (`pick up from trash_can_116`) and went straight to `pick up from can_of_soda_113` (OnTop(can_113, floor) false at f898; IsGrasping(right, can_113) true at f900). Seeding at first frame restores the untouched initial scene \u2014 both grippers empty, trash can available in kitchen \u2014 which is the only state from which the whole task can still succeed. Later frames in this row restart the wrong trajectory rather than the wrong plan." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ddef22871ded92494437c0ecdb27020de25b6a9 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/events.jsonl @@ -0,0 +1,146 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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"accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 333, "event": "joint_tracking", "max_error_rad": 4.6566128730773926e-07} +{"step": 333, "event": "eef_tracking", "arm": "right", "actual_xyz": [6.188782215118408, 2.9385132789611816, 0.6297620534896851], "desired_xyz": [6.188775539398193, 2.9385054111480713, 0.6298200368881226], "error_m": 5.889433094868572e-05} +{"step": 333, "event": "eef_target", "arm": "right", "body_xyz": [0.13243377625989272, -0.2554524672686713, 0.6620523486404288], "world_xyz": [6.188775539398193, 2.9385054111480713, 0.6673200368881226], "held": {"left": null, "right": null}} +{"step": 333, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 333, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 353, "event": "joint_tracking", "max_error_rad": 1.2032687664031982e-06} +{"step": 353, "event": "eef_tracking", "arm": "right", "actual_xyz": [6.188776016235352, 2.9385125637054443, 0.6672717928886414], "desired_xyz": [6.188775539398193, 2.9385054111480713, 0.6673200368881226], "error_m": 4.877366027472668e-05} +{"step": 353, "event": "human_reference", "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010230.hdf5", "frame": 707, "arm": "right", "kind": "bin"} +{"step": 353, "event": "stage", "name": "navigate_to_bin", "task": {"inside": {"can__of__soda.n.01_1": false, "can__of__soda.n.01_2": false, "can__of__soda.n.01_3": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": null}, "eef_world": {"left": [[6.411314010620117, 2.501796007156372, 0.604938805103302], [0.9092727899551392, 0.3657377064228058, -0.18599151074886322, 0.06975752860307693]], "right": [[6.188776016235352, 2.9385125637054443, 0.6672717928886414], [0.8948057293891907, 0.31597012281417847, 0.2839422821998596, -0.13734076917171478]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.783182144165039, 6.798921585083008, 0.0714571475982666], "can__of__soda.n.01_2": [3.622127056121826, 6.504878997802734, 0.07145744562149048], "can__of__soda.n.01_3": [5.180051803588867, 4.615011692047119, 0.06461407989263535], "ashcan.n.01_1": [3.998059034347534, -0.1420118510723114, 0.13483594357967377]}, "robot_pose": [[6.464256763458252, 2.855276107788086, 0.00528523325920105], [7.131695747375488e-05, 3.820700294454582e-05, -0.9212985634803772, 0.388855904340744]]}} +{"step": 353, "event": "tuck_idle_arm", "arm": "left", "target_local": [0.3, 0.22, 0.45]} +{"step": 353, "event": "eef_target", "arm": "left", "body_xyz": 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"arm": "left", "body_xyz": [0.3000226294517103, 0.2199947521599371, 0.4499996000606156], "world_xyz": [6.412567412661137, 2.4867999565124927, 0.4552336046923014], "held": {"left": null, "right": null}} +{"step": 407, "event": "torso_collision_guard", "start_overlap_m": 0.0, "allowed_overlap_m": 0.01, "soft_overlap_target_m": 0.0, "rejected_solutions": 0, "accepted": true} +{"step": 407, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": null, "held_worst_rejected_m": null, "base_box_body": null} +{"step": 425, "event": "joint_tracking", "max_error_rad": 8.158385753631592e-07} +{"step": 425, "event": "eef_tracking", "arm": "left", "actual_xyz": [6.412553310394287, 2.486783266067505, 0.4552960693836212], "desired_xyz": [6.412567412661137, 2.4867999565124927, 0.4552336046923014], "error_m": 6.617614786227551e-05} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.55, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.62, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.48, "arm": "right", "feasible": true} +{"step": 425, "event": "standoff_ik_precheck", "distance": 0.7, "arm": "right", "feasible": true} +{"step": 425, "event": "approach_candidates", "key": "pick_bin", "target": [3.998059034347534, -0.1420118510723114], "evaluated": 48, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 425, "event": "primitive_failure", "operation": "pick_bin", "reason": "no_traversable_route", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..bdc74a6a2af32e321a813eb6fad6b853fe30a97e --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/425 [00:00\n operation = lambda: self.pick(self.bin, bin_arm, \"bin\", self.failures.get(key, 0))\n ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 258, in pick\n self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20,\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 168, in approach\n raise RecoveryFailure(\"no_traversable_route\")\ntask01_recovery.control.RecoveryFailure: no_traversable_route\n", + "steps": 425, + "final_task": { + "inside": { + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_2": false, + "can__of__soda.n.01_3": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": null + }, + "eef_world": { + "left": [ + [ + 6.412553310394287, + 2.486783266067505, + 0.4552960693836212 + ], + [ + 0.9093143343925476, + 0.36574655771255493, + -0.18580135703086853, + 0.06967588514089584 + ] + ], + "right": [ + [ + 6.159167766571045, + 2.9081451892852783, + 0.5213732123374939 + ], + [ + 0.8578184247016907, + 0.30243369936943054, + 0.37369614839553833, + -0.18174895644187927 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_1": [ + 4.783182144165039, + 6.798921585083008, + 0.0714571475982666 + ], + "can__of__soda.n.01_2": [ + 3.622127056121826, + 6.504878997802734, + 0.07145744562149048 + ], + "can__of__soda.n.01_3": [ + 5.180051803588867, + 4.615011692047119, + 0.06461407989263535 + ], + "ashcan.n.01_1": [ + 3.998059034347534, + -0.1420118510723114, + 0.13483594357967377 + ] + }, + "robot_pose": [ + [ + 6.464275360107422, + 2.8552920818328857, + 0.005285337567329407 + ], + [ + 7.128529250621796e-05, + 3.790153641602956e-05, + -0.9212964773178101, + 0.3888608515262604 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 521 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..15135245ce2c25489ebfa1015ab2819447e9b201 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df122f8aa1a97be3d99cf244a6ca813fd2396d18ca68b79d0a1fec7e14b2ee1c +size 412336 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..ab740341aa2f1b83de56180d51b147b1c1774a9b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/run.log @@ -0,0 +1,629 @@ +RECOVERY building environment +[00:00:03.959] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260920_002658.log +[0.049s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.101s] [ext: omni.metrics.core-0.0.3] startup +[0.102s] [ext: omni.client.lib-1.1.0] startup +[0.111s] [ext: omni.blobkey-1.1.2] startup +[0.112s] [ext: omni.stats-1.0.1] startup +[0.112s] [ext: omni.datastore-0.0.0] startup +[0.116s] [ext: omni.client-1.3.0] startup +[0.119s] [ext: omni.ujitso.default-1.0.0] startup +[0.120s] [ext: omni.hsscclient-1.1.2] startup +[0.185s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.188s] [ext: omni.assets.plugins-0.0.0] startup +[0.189s] [ext: omni.gpu_foundation-0.0.0] startup +[0.194s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-19T16:26:58Z [168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:58Z [168ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.195s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-19T16:26:58Z [194ms] [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: 47063 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-19T16:26:58Z [841ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.002s] [ext: omni.materialx.libs-1.0.7] startup +[1.017s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.019s] [ext: omni.kit.test-2.0.1] startup +[1.046s] [ext: omni.usd.config-1.0.6] startup +[1.050s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.051s] [ext: omni.usd.libs-1.0.1] startup +[1.172s] [ext: omni.kit.telemetry-0.5.2] startup +[1.193s] [ext: omni.mdl-56.0.3] startup +[1.208s] [ext: omni.iray.libs-0.0.0] startup +[1.211s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.213s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.282s] [ext: omni.kit.pipapi-0.0.0] startup +[1.283s] [ext: omni.appwindow-1.1.10] startup +2026-09-19T16:26:59Z [1,257ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,257ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.286s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-19T16:26:59Z [1,273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,273ms] [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) +2026-09-19T16:26:59Z [1,279ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,279ms] [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) +[1.307s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.309s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-19T16:26:59Z [1,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,285ms] [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) +2026-09-19T16:26:59Z [1,286ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,286ms] [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) +2026-09-19T16:26:59Z [1,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-19T16:26:59Z [1,287ms] [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) +[1.350s] [ext: omni.ui-2.27.1] startup +[1.357s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.357s] [ext: carb.audio-0.1.0] startup +[1.360s] [ext: omni.uiaudio-1.0.0] startup +[1.361s] [ext: omni.kit.uiapp-0.0.0] startup +[1.361s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.363s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.368s] [ext: omni.usd_resolver-1.0.0] startup +[1.371s] [ext: omni.usd.core-1.5.3] startup +[1.374s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.391s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.410s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.413s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.415s] [ext: omni.kit.actions.core-1.0.0] startup +[1.417s] [ext: omni.activity.core-1.0.3] startup +[1.418s] [ext: omni.kit.commands-1.4.10] startup +[1.420s] [ext: usdrt.scenegraph-7.6.1] startup +[1.446s] [ext: omni.resourcemonitor-107.0.1] startup +[1.447s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.448s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.456s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.456s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.459s] [ext: omni.graph.exec-0.9.6] startup +[1.459s] [ext: omni.timeline-1.0.14] startup +[1.460s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.461s] [ext: omni.kit.exec.core-0.13.4] startup +[1.462s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.468s] [ext: omni.usd-1.13.10] startup +[1.488s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.497s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.497s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.502s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.509s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.513s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.514s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.514s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.543s] [ext: omni.inspect-1.0.2] startup +[1.545s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.547s] [ext: omni.graph.core-2.184.5] startup +[1.550s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.552s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.554s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.565s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.572s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.573s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.577s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.578s] [ext: omni.kit.clipboard-1.0.5] startup +[1.579s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.591s] [ext: omni.ui.scene-1.11.5] startup +[1.597s] [ext: omni.index.libs-380600.8087.0] startup +[1.597s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.607s] [ext: omni.index-1.0.1] startup +[1.608s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.610s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.614s] [ext: omni.volume-0.5.2] startup +[1.619s] [ext: omni.ujitso.client-0.0.0] startup +[1.619s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.621s] [ext: omni.kit.menu.core-1.1.2] startup +[1.622s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-19T16:26:59Z [1,615ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.660s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.660s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.666s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.667s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.674s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.687s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.694s] [ext: omni.kit.context_menu-1.8.6] startup +[1.696s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.701s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.701s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.703s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.714s] [ext: omni.kit.material.library-2.0.7] startup +[1.721s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.722s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.727s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.752s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.753s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.755s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.755s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.756s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.757s] [ext: omni.kit.browser.core-2.3.13] startup +[1.762s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.763s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.771s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.778s] [ext: omni.kit.window.file-2.0.5] startup +[1.782s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.783s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.784s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.788s] [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 +[1.815s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.823s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.825s] [ext: omni.graph.action_core-1.1.7] startup +[1.826s] [ext: omni.graph-1.141.2] startup +[1.858s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.859s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.863s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.869s] [ext: omni.kit.window.stage-2.6.1] startup +[1.873s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.875s] [ext: omni.graph.action-1.130.0] startup +[1.876s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.878s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.880s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.881s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.886s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.898s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.901s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.902s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.903s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.915s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.916s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.917s] [ext: omni.kit.window.property-1.12.1] startup +[1.919s] [ext: omni.ui_query-1.1.8] startup +[1.920s] [ext: omni.kit.property.usd-4.5.12] startup +[1.929s] [ext: omni.kit.menu.create-2.0.1] startup +[1.930s] [ext: isaacsim.core.version-2.0.6] startup +[1.931s] [ext: omni.kit.ui_test-1.3.7] startup +[1.932s] [ext: omni.kit.scripting-107.3.2] startup +[1.936s] [ext: omni.convexdecomposition-107.3.26] startup +[1.938s] [ext: isaacsim.storage.native-1.5.1] startup +[1.940s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.947s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.950s] [ext: omni.kvdb-107.3.26] startup +[1.952s] [ext: omni.usdphysics-107.3.26] startup +[1.954s] [ext: omni.physx.foundation-107.3.26] startup +[1.955s] [ext: omni.localcache-107.3.26] startup +[1.957s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.962s] [ext: omni.physx.cooking-107.3.26] startup +[1.965s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.966s] [ext: omni.physx-107.3.26] startup +[1.974s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.978s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.979s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.982s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.987s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.989s] [ext: isaacsim.gui.components-1.2.1] startup +[1.991s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.994s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.053s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.060s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.063s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.068s] [ext: omni.fabric.commands-1.1.6] startup +[2.070s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.072s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.073s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.082s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.084s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.084s] [ext: omni.debugdraw-0.1.4] startup +[2.088s] [ext: omni.physics-107.3.26] startup +[2.090s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.107s] [ext: omni.physx.commands-107.3.26] startup +[2.112s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.113s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.115s] [ext: omni.physx.ui-107.3.26] startup +[2.136s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.140s] [ext: omni.physx.supportui-107.3.26] startup +[2.149s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.151s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.152s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.155s] [ext: omni.physics.physx-107.3.26] startup +2026-09-19T16:27:00Z [2,131ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.157s] [ext: omni.physics.tensors-107.3.26] startup +[2.161s] [ext: omni.warp.core-1.8.2] startup +[2.270s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.274s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T16:27:00Z [2,257ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.284s] [ext: omni.physx.tensors-107.3.26] startup +[2.293s] [ext: isaacsim.core.utils-3.5.1] startup +[2.299s] [ext: omni.graph.image.core-0.6.1] startup +[2.302s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.393s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.395s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.397s] [ext: isaacsim.core.prims-0.6.1] startup +[2.428s] [ext: omni.syntheticdata-0.6.13] startup +[2.449s] [ext: isaacsim.core.api-4.8.0] startup +[2.474s] [ext: omni.videoencoding-0.1.2] startup +[2.477s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.479s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.482s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.484s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.485s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.491s] [ext: omni.graph.nodes-1.170.10] startup +[2.504s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.508s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.512s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T16:27:00Z [2,486ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.513s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.523s] [ext: omni.warp-1.8.2] startup +[2.531s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.548s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.552s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.574s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.645s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T16:27:00Z [2,640ms] [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 +2026-09-19T16:27:00Z [2,703ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T16:27:00Z [2,703ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T16:27:00Z [2,703ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.732s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.735s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.741s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.753s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T16:27:00Z [2,728ms] [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. +[2.755s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.790s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.924s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.001s] [ext: isaacsim.core.throttling-2.2.2] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.033s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.042s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T16:27:01Z [3,023ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.061s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.065s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T16:27:01Z [3,043ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.070s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T16:27:01Z [3,046ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.073s] [ext: omni.anim.curve.core-1.3.1] startup +[3.100s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T16:27:01Z [3,076ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:27:01Z [3,079ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:27:01Z [3,095ms] [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. +[3.122s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.137s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T16:27:01Z [3,112ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.140s] [ext: omni.kit.selection-0.1.6] startup +[3.143s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.156s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T16:27:01Z [3,131ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,131ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,132ms] [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. +2026-09-19T16:27:01Z [3,133ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,134ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,134ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,134ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,134ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,135ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:27:01Z [3,136ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.163s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.181s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.190s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.205s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T16:27:01Z [3,180ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.207s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.212s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T16:27:01Z [3,187ms] [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. +2026-09-19T16:27:01Z [3,188ms] [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. +2026-09-19T16:27:01Z [3,189ms] [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. +2026-09-19T16:27:01Z [3,190ms] [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. +2026-09-19T16:27:01Z [3,191ms] [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. +2026-09-19T16:27:01Z [3,193ms] [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. +2026-09-19T16:27:01Z [3,193ms] [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. +2026-09-19T16:27:01Z [3,193ms] [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. +2026-09-19T16:27:01Z [3,194ms] [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. +2026-09-19T16:27:01Z [3,194ms] [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. +2026-09-19T16:27:01Z [3,196ms] [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. +2026-09-19T16:27:01Z [3,197ms] [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. +2026-09-19T16:27:01Z [3,197ms] [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. +2026-09-19T16:27:01Z [3,197ms] [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. +2026-09-19T16:27:01Z [3,198ms] [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. +2026-09-19T16:27:01Z [3,198ms] [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. +[3.225s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T16:27:01Z [3,201ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.228s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T16:27:01Z [3,207ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T16:27:01Z [3,207ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.234s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T16:27:01Z [3,208ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.236s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T16:27:01Z [3,212ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.239s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.246s] [ext: omni.isaac.utils-2.0.6] startup +[3.251s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.268s] [ext: isaacsim.app.about-2.0.11] startup +[3.270s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T16:27:01Z [3,245ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.272s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.273s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T16:27:01Z [3,247ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:27:01Z [3,249ms] [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. +2026-09-19T16:27:01Z [3,249ms] [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. +2026-09-19T16:27:01Z [3,251ms] [Warning] [omni.isaac.wheeled_robots.controllers.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:27:01Z [3,254ms] [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. +2026-09-19T16:27:01Z [3,255ms] [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. +2026-09-19T16:27:01Z [3,255ms] [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. +2026-09-19T16:27:01Z [3,255ms] [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. +2026-09-19T16:27:01Z [3,256ms] [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. +2026-09-19T16:27:01Z [3,256ms] [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. +2026-09-19T16:27:01Z [3,256ms] [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. +2026-09-19T16:27:01Z [3,258ms] [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. +[3.285s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T16:27:01Z [3,266ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T16:27:01Z [3,267ms] [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. +[3.294s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.302s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T16:27:01Z [3,276ms] [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. +[3.303s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.313s] [ext: omni.kit.property.audio-1.0.16] startup +[3.315s] [ext: omni.kit.property.camera-1.0.10] startup +[3.317s] [ext: omni.sensors.net-1.0.0] startup +[3.321s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.325s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.329s] [ext: omni.kit.property.light-1.0.12] startup +[3.388s] [ext: omni.kit.property.material-1.11.9] startup +[3.393s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.394s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.396s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.400s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.406s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.410s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.412s] [ext: omni.kit.property.render-1.2.1] startup +[3.413s] [ext: omni.kit.property.transform-1.5.13] startup +[3.417s] [ext: isaacsim.gui.property-1.1.3] startup +[3.418s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.423s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.428s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.434s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.439s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.441s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T16:27:01Z [3,415ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T16:27:01Z [3,415ms] [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. +[3.442s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T16:27:01Z [3,416ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T16:27:01Z [3,416ms] [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. +[3.443s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.458s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,433ms] [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. +2026-09-19T16:27:01Z [3,435ms] [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. +2026-09-19T16:27:01Z [3,435ms] [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. +2026-09-19T16:27:01Z [3,435ms] [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. +[3.462s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T16:27:01Z [3,437ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.464s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.473s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.475s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.476s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.478s] [ext: omni.ocio-0.1.1] startup +[3.480s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.488s] [ext: omni.kit.window.console-1.1.4] startup +[3.496s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.499s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T16:27:01Z [3,473ms] [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. +[3.500s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.504s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.508s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.517s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T16:27:01Z [3,491ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.518s] [ext: semantics.schema.editor-2.0.2] startup +[3.523s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.525s] [ext: semantics.schema.property-2.0.1] startup +[3.526s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T16:27:01Z [3,500ms] [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. +2026-09-19T16:27:01Z [3,500ms] [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. +2026-09-19T16:27:01Z [3,502ms] [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. +[3.528s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T16:27:01Z [3,503ms] [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. +2026-09-19T16:27:01Z [3,504ms] [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. +2026-09-19T16:27:01Z [3,504ms] [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. +2026-09-19T16:27:01Z [3,504ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.531s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.539s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.544s] [ext: omni.kit.menu.common-2.0.1] startup +[3.546s] [ext: isaacsim.exp.base-5.1.0] startup +[3.546s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.547s] Simulation App Starting +2026-09-19T16:27:01Z [3,847ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.914s] app ready +[6.432s] Simulation App Startup Complete +[6.794s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T16:27:04Z [6,965ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T16:27:05Z [7,857ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.889] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:12.024] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T16:28:00Z [62,160ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:28:02Z [64,173ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +2026-09-19T16:28:02Z [64,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,430ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,431ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,547ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,547ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,581ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,617ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,617ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,618ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,651ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,683ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,683ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,719ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,724ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:02Z [64,724ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,387ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,388ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,388ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,433ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,437ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,437ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,442ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,448ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,453ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,453ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,459ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,459ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,605ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,606ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:03Z [65,920ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:28:04Z [66,009ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:28:04Z [66,009ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +[00:01:11.191] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:11.229] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:28:12Z [74,876ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:19.642] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:19.644] [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. +2026-09-19T16:28:13Z [75,651ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:28:13Z [75,652ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:28:13Z [75,653ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:28:13Z [75,654ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:28:16Z [78,531ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:28:21Z [83,446ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 clear_failed_grasp_before_navigation {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 240 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +RECOVERY progress 360 navigate_to_bin {'can__of__soda.n.01_1': False, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': None} +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1488, in + operation = lambda: self.pick(self.bin, bin_arm, "bin", self.failures.get(key, 0)) + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 258, in pick + self.approach(key, obj_pose[:2, 3], arm, distances=(.55, .62, .48, .70), lateral=.20, + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 168, in approach + raise RecoveryFailure("no_traversable_route") +task01_recovery.control.RecoveryFailure: no_traversable_route + +2026-09-19T16:35:30Z [512,758ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:35:30Z [512,758ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:35:30Z [512,758ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[512.889s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..f9e18242ada95c8d6bd6e8a4af391fbde25f3f69 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fb84b6040620b838f951585ffb4b5c5688b2c3fa3bb51f274f1ccc5e1142367 +size 553 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..94203bd01bae30c2542211d2d2dd4d960ca18463 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10547001acfa54eddbe36070d905d76a66c50bdef639f6faaef7ef88b325203c +size 6706696 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80b7c10a85cabccae59264557b1ebe34dc6c19f4 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4aa222e623a5d4ff18f4c93ca294b67b5fef8fda14270a459c8ffb9c64950a3d +size 924337 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/case.json new file mode 100644 index 0000000000000000000000000000000000000000..a2895d5c1333a0a8c0787017a0f694ac247cc217 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017360-f000000", + "kind": "vla", + "episode_id": "00017360", + "instance_id": 736, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 3, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017360.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017360.json", + "frame": 0, + "start_type": "judgement_seed", + "chunk_index": 0, + "chunk_span": [ + 0, + 900 + ], + "reason": "Row is `ordering`: robot skipped card-mandated phase A (`pick up from trash_can_116`) and went straight to `pick up from can_of_soda_113` (OnTop(can_113, floor) false at f898; IsGrasping(right, can_113) true at f900). Seeding at first frame restores the untouched initial scene \u2014 both grippers empty, trash can available in kitchen \u2014 which is the only state from which the whole task can still succeed. Later frames in this row restart the wrong trajectory rather than the wrong plan." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4bc883f3fde39e5ddea405d42869724d723ac0 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000000/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017360-f000000", + "episode_id": "00017360", + "instance_id": 736, + "start_type": "judgement_seed", + "source_frame": 0, + "attempt": "attempt_001", + "completed_at": "2026-09-19T16:36:04+00:00", + "success": false, + "status": "error", + "error": "no_traversable_route", + "teacher_steps": 425, + "dataset_frames": 425, + "dataset_passed": true, + "supervised_frames": 0, + "dataset_root": "runs/vla-episode_00017360-f000000/attempt_001/dataset", + "video": "runs/vla-episode_00017360-f000000/attempt_001/video.mp4", + "initial_inside": 0, + "final_inside": 0, + "initial_held": { + "left": null, + "right": null + }, + "already_complete_at_start": false, + "model_call_count": 0, + "export": "ok", + "export_wall_seconds": 30 +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/dataset/data/chunk-000/file-000.parquet b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/dataset/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..93bceaaabc6182910ec1f0a7c8f86fde48e140fd --- /dev/null +++ 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"codebase_version": "v3.0", + "fps": 30, + "features": { + "action": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "action" + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": [ + "reward" + ] + }, + "next.terminated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "next.truncated": { + "dtype": "bool", + "shape": [ + 1 + ], + "names": [ + "done" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 61 + ], + "names": [ + null + ] + }, + "observation.robot2cam_pose.left_realsense_link_camera_0": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.depth_linear.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 1 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.left_realsense_link_camera_0": { + "dtype": "video", + "shape": [ + 480, + 480, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 480, + "video.width": 480, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "observation.robot2cam_pose.right_realsense_link_camera_0": { + "dtype": "float32", + 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"can_of_soda_113"}, "eef_world": {"left": [[4.648153781890869, 4.551718711853027, 0.35053741931915283], [-0.8515297174453735, 0.3793511688709259, 0.16367505490779877, 0.32280099391937256]], "right": [[5.110167980194092, 4.781750202178955, 0.43731170892715454], [-0.7729365229606628, 0.5505752563476562, 0.2495443969964981, 0.19277922809123993]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.089271068572998, 4.808427333831787, 0.388071745634079], "can__of__soda.n.01_1": [4.7831854820251465, 6.798921585083008, 0.07145717740058899], "can__of__soda.n.01_2": [3.622135639190674, 6.504881858825684, 0.07145722210407257], "ashcan.n.01_1": [3.998059034347534, -0.14201179146766663, 0.13483595848083496]}, "robot_pose": [[5.019338607788086, 4.072434425354004, 0.005285292863845825], [-6.884709000587463e-05, 4.258216358721256e-05, 0.7994718551635742, 0.6007035374641418]]}} +{"step": 11, "event": "approach_candidates", "key": "deposit:can_of_soda_113", "target": [3.998059034347534, -0.14201179146766663], "evaluated": 36, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 11, "event": "primitive_failure", "operation": "deposit:can_of_soda_113", "reason": "no_traversable_route", "attempt": 2} +{"step": 11, "event": "stage", "name": "recover_and_reobserve", "task": {"inside": {"can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "can_of_soda_113"}, "eef_world": {"left": [[4.648153781890869, 4.551718711853027, 0.35053741931915283], [-0.8515297174453735, 0.3793511688709259, 0.16367505490779877, 0.32280099391937256]], "right": [[5.110167980194092, 4.781750202178955, 0.43731170892715454], [-0.7729365229606628, 0.5505752563476562, 0.2495443969964981, 0.19277922809123993]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.089271068572998, 4.808427333831787, 0.388071745634079], "can__of__soda.n.01_1": [4.7831854820251465, 6.798921585083008, 0.07145717740058899], "can__of__soda.n.01_2": [3.622135639190674, 6.504881858825684, 0.07145722210407257], "ashcan.n.01_1": [3.998059034347534, -0.14201179146766663, 0.13483595848083496]}, "robot_pose": [[5.019338607788086, 4.072434425354004, 0.005285292863845825], [-6.884709000587463e-05, 4.258216358721256e-05, 0.7994718551635742, 0.6007035374641418]]}} +{"step": 19, "event": "primitive_start", "operation": "deposit:can_of_soda_113", "attempt": 3} +{"step": 19, "event": "stage", "name": "deposit_can", "task": {"inside": {"can__of__soda.n.01_3": false, "can__of__soda.n.01_1": false, "can__of__soda.n.01_2": false}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": null, "right": "can_of_soda_113"}, "eef_world": {"left": [[4.6481547355651855, 4.551718235015869, 0.3505253791809082], [-0.8515346050262451, 0.3793528079986572, 0.1636665165424347, 0.322790265083313]], "right": [[5.110359191894531, 4.781776428222656, 0.43725496530532837], [-0.7732119560241699, 0.5502300262451172, 0.24909675121307373, 0.19323839247226715]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_3": [5.089523792266846, 4.808457374572754, 0.38799166679382324], "can__of__soda.n.01_1": [4.783183574676514, 6.798918724060059, 0.07145711034536362], "can__of__soda.n.01_2": [3.6221365928649902, 6.504883766174316, 0.07145719230175018], "ashcan.n.01_1": [3.998059034347534, -0.14201180636882782, 0.13483594357967377]}, "robot_pose": [[5.019338607788086, 4.072434425354004, 0.005285367369651794], [-6.867945194244385e-05, 4.270602221367881e-05, 0.7994718551635742, 0.6007035374641418]]}} +{"step": 19, "event": "approach_candidates", "key": "deposit:can_of_soda_113", "target": [3.998059034347534, -0.14201180636882782], "evaluated": 36, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 19, "event": "primitive_failure", "operation": "deposit:can_of_soda_113", "reason": "no_traversable_route", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..b209271d951487b17127fa2b6760f4997b3b4de5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/19 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 608, in deposit\n self.approach(\"deposit:\" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 168, in approach\n raise RecoveryFailure(\"no_traversable_route\")\ntask01_recovery.control.RecoveryFailure: no_traversable_route\n", + "steps": 19, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": null, + "right": "can_of_soda_113" + }, + "eef_world": { + "left": [ + [ + 4.6481547355651855, + 4.551718235015869, + 0.3505253791809082 + ], + [ + -0.8515346050262451, + 0.3793528079986572, + 0.1636665165424347, + 0.322790265083313 + ] + ], + "right": [ + [ + 5.110359191894531, + 4.781776428222656, + 0.43725496530532837 + ], + [ + -0.7732119560241699, + 0.5502300262451172, + 0.24909675121307373, + 0.19323839247226715 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 5.089523792266846, + 4.808457374572754, + 0.38799166679382324 + ], + "can__of__soda.n.01_1": [ + 4.783183574676514, + 6.798918724060059, + 0.07145711034536362 + ], + "can__of__soda.n.01_2": [ + 3.6221365928649902, + 6.504883766174316, + 0.07145719230175018 + ], + "ashcan.n.01_1": [ + 3.998059034347534, + -0.14201180636882782, + 0.13483594357967377 + ] + }, + "robot_pose": [ + [ + 5.019338607788086, + 4.072434425354004, + 0.005285367369651794 + ], + [ + -6.867945194244385e-05, + 4.270602221367881e-05, + 0.7994718551635742, + 0.6007035374641418 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 390 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3bd80920cc8c58251c7a5d8a0a21f6321cab67ae --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f67890df58dba7a87d84d5308217e3d93f07140d7506a0587c4d81ed9684428a +size 513416 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..cdc6f27689b7159daf1876664a5e3ce65b2cf23d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/run.log @@ -0,0 +1,627 @@ +RECOVERY building environment +[00:00:03.667] [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_113444.log +[0.037s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.089s] [ext: omni.metrics.core-0.0.3] startup +[0.089s] [ext: omni.client.lib-1.1.0] startup +[0.098s] [ext: omni.blobkey-1.1.2] startup +[0.098s] [ext: omni.stats-1.0.1] startup +[0.099s] [ext: omni.datastore-0.0.0] startup +[0.102s] [ext: omni.client-1.3.0] startup +[0.105s] [ext: omni.ujitso.default-1.0.0] startup +[0.106s] [ext: omni.hsscclient-1.1.2] startup +[0.110s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.111s] [ext: omni.assets.plugins-0.0.0] startup +[0.112s] [ext: omni.gpu_foundation-0.0.0] startup +[0.116s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T03:34:44Z [99ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:44Z [99ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.117s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T03:34:44Z [124ms] [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: 46825 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T03:34:45Z [659ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[0.826s] [ext: omni.materialx.libs-1.0.7] startup +[0.832s] [ext: omni.kit.loop-isaac-1.3.7] startup +[0.832s] [ext: omni.kit.test-2.0.1] startup +[0.847s] [ext: omni.usd.config-1.0.6] startup +[0.848s] [ext: omni.gpucompute.plugins-0.0.0] startup +[0.849s] [ext: omni.usd.libs-1.0.1] startup +[0.941s] [ext: omni.kit.telemetry-0.5.2] startup +[0.963s] [ext: omni.mdl-56.0.3] startup +[0.978s] [ext: omni.iray.libs-0.0.0] startup +[0.982s] [ext: omni.mdl.neuraylib-0.2.12] startup +[0.983s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.053s] [ext: omni.kit.pipapi-0.0.0] startup +[1.053s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T03:34:45Z [1,036ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,036ms] [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) +[1.055s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T03:34:45Z [1,050ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,050ms] [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) +2026-09-21T03:34:45Z [1,057ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,058ms] [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) +[1.077s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.078s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T03:34:45Z [1,062ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,062ms] [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) +2026-09-21T03:34:45Z [1,063ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,063ms] [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) +2026-09-21T03:34:45Z [1,064ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T03:34:45Z [1,064ms] [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) +[1.121s] [ext: omni.ui-2.27.1] startup +[1.128s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.129s] [ext: carb.audio-0.1.0] startup +[1.132s] [ext: omni.uiaudio-1.0.0] startup +[1.133s] [ext: omni.kit.uiapp-0.0.0] startup +[1.133s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.135s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.138s] [ext: omni.usd_resolver-1.0.0] startup +[1.141s] [ext: omni.usd.core-1.5.3] startup +[1.144s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.161s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.179s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.181s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.183s] [ext: omni.kit.actions.core-1.0.0] startup +[1.185s] [ext: omni.activity.core-1.0.3] startup +[1.186s] [ext: omni.kit.commands-1.4.10] startup +[1.188s] [ext: usdrt.scenegraph-7.6.1] startup +[1.212s] [ext: omni.resourcemonitor-107.0.1] startup +[1.213s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.214s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[1.221s] [ext: omni.kit.usd_undo-0.1.8] startup +[1.222s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[1.225s] [ext: omni.graph.exec-0.9.6] startup +[1.225s] [ext: omni.timeline-1.0.14] startup +[1.226s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[1.227s] [ext: omni.kit.exec.core-0.13.4] startup +[1.228s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[1.234s] [ext: omni.usd-1.13.10] startup +[1.253s] [ext: omni.kit.asset_converter-5.0.17] startup +[1.262s] [ext: omni.usd.schema.isaac-3.0.5] startup +[1.262s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[1.267s] [ext: isaacsim.robot.schema-3.6.0] startup +[1.274s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[1.278s] [ext: omni.usd.schema.flow-107.1.1] startup +[1.279s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[1.279s] [ext: omni.usd.schema.physx-107.3.26] startup +[1.303s] [ext: omni.inspect-1.0.2] startup +[1.304s] [ext: omni.kit.notification_manager-1.0.10] startup +[1.305s] [ext: omni.graph.core-2.184.5] startup +[1.308s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[1.308s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[1.309s] [ext: omni.anim.graph.schema-107.3.3] startup +[1.315s] [ext: omni.anim.navigation.schema-107.3.3] startup +[1.318s] [ext: omni.kit.widget.path_field-2.0.11] startup +[1.318s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[1.322s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[1.322s] [ext: omni.kit.clipboard-1.0.5] startup +[1.323s] [ext: omni.kit.usd.layers-2.2.11] startup +[1.329s] [ext: omni.ui.scene-1.11.5] startup +[1.332s] [ext: omni.index.libs-380600.8087.0] startup +[1.332s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[1.339s] [ext: omni.index-1.0.1] startup +[1.339s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[1.340s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[1.342s] [ext: omni.volume-0.5.2] startup +[1.345s] [ext: omni.ujitso.client-0.0.0] startup +[1.345s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[1.346s] [ext: omni.kit.menu.core-1.1.2] startup +[1.346s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T03:34:45Z [1,345ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[1.379s] [ext: omni.kit.widget.options_button-1.0.3] startup +[1.379s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[1.382s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[1.383s] [ext: omni.kit.hydra_texture-1.4.6] startup +[1.386s] [ext: omni.kit.window.filepicker-2.13.4] startup +[1.393s] [ext: omni.kit.menu.utils-2.0.5] startup +[1.398s] [ext: omni.kit.context_menu-1.8.6] startup +[1.399s] [ext: omni.kit.widget.viewport-107.1.3] startup +[1.402s] [ext: omni.kit.viewport.registry-104.0.6] startup +[1.402s] [ext: omni.kit.window.file_importer-1.1.18] startup +[1.403s] [ext: omni.kit.raycast.query-1.1.0] startup +[1.409s] [ext: omni.kit.material.library-2.0.7] startup +[1.413s] [ext: omni.kit.window.drop_support-1.0.5] startup +[1.413s] [ext: omni.hydra.engine.stats-1.0.3] startup +[1.416s] [ext: omni.kit.viewport.window-107.2.0] startup +[1.429s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[1.429s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[1.430s] [ext: omni.kit.widget.filter-1.1.4] startup +[1.431s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[1.431s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[1.432s] [ext: omni.kit.browser.core-2.3.13] startup +[1.434s] [ext: omni.kit.stage_template.core-1.1.22] startup +[1.434s] [ext: omni.kit.widget.stage-3.1.4] startup +[1.441s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[1.444s] [ext: omni.kit.window.file-2.0.5] startup +[1.446s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[1.447s] [ext: omni.kit.widget.prompt-1.0.7] startup +[1.447s] [ext: omni.kit.usd.collect-2.4.5] startup +[1.449s] [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 +[1.465s] [ext: omni.kit.window.content_browser-3.1.3] startup +[1.472s] [ext: omni.kit.usdz_export-1.0.9] startup +[1.474s] [ext: omni.graph.action_core-1.1.7] startup +[1.476s] [ext: omni.graph-1.141.2] startup +[1.504s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[1.505s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[1.508s] [ext: omni.graph.action_nodes-1.50.4] startup +[1.513s] [ext: omni.kit.window.stage-2.6.1] startup +[1.518s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[1.522s] [ext: omni.graph.action-1.130.0] startup +[1.523s] [ext: omni.kit.menu.stage-1.2.7] startup +[1.525s] [ext: omni.kit.widget.settings-1.2.6] startup +[1.527s] [ext: omni.kit.viewport.utility-1.1.2] startup +[1.529s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[1.531s] [ext: omni.kit.window.preferences-1.8.0] startup +[1.535s] [ext: omni.kit.viewport.actions-107.0.2] startup +[1.538s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[1.539s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[1.540s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[1.570s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[1.572s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[1.574s] [ext: omni.kit.window.property-1.12.1] startup +[1.576s] [ext: omni.ui_query-1.1.8] startup +[1.577s] [ext: omni.kit.property.usd-4.5.12] startup +[1.590s] [ext: omni.kit.menu.create-2.0.1] startup +[1.593s] [ext: isaacsim.core.version-2.0.6] startup +[1.594s] [ext: omni.kit.ui_test-1.3.7] startup +[1.597s] [ext: omni.kit.scripting-107.3.2] startup +[1.602s] [ext: omni.convexdecomposition-107.3.26] startup +[1.607s] [ext: isaacsim.storage.native-1.5.1] startup +[1.609s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[1.618s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[1.623s] [ext: omni.kvdb-107.3.26] startup +[1.626s] [ext: omni.usdphysics-107.3.26] startup +[1.629s] [ext: omni.physx.foundation-107.3.26] startup +[1.632s] [ext: omni.localcache-107.3.26] startup +[1.633s] [ext: omni.kit.window.extensions-1.4.27] startup +[1.638s] [ext: omni.physx.cooking-107.3.26] startup +[1.642s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[1.643s] [ext: omni.physx-107.3.26] startup +[1.652s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[1.655s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[1.657s] [ext: omni.kit.tool.collect-2.2.18] startup +[1.661s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[1.668s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[1.670s] [ext: isaacsim.gui.components-1.2.1] startup +[1.673s] [ext: isaacsim.examples.browser-0.2.1] startup +[1.677s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[1.742s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[1.747s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[1.751s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[1.756s] [ext: omni.fabric.commands-1.1.6] startup +[1.758s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[1.759s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[1.761s] [ext: omni.kit.widget.layers-1.8.6] startup +[1.773s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[1.775s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[1.776s] [ext: omni.debugdraw-0.1.4] startup +[1.783s] [ext: omni.physics-107.3.26] startup +[1.787s] [ext: omni.usdphysics.ui-107.3.26] startup +[1.817s] [ext: omni.physx.commands-107.3.26] startup +[1.822s] [ext: omni.physics.stageupdate-107.3.26] startup +[1.824s] [ext: omni.kit.window.toolbar-2.0.0] startup +[1.827s] [ext: omni.physx.ui-107.3.26] startup +[1.849s] [ext: omni.kit.widget.graph-2.0.0] startup +[1.854s] [ext: omni.physx.supportui-107.3.26] startup +[1.863s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[1.865s] [ext: omni.kit.numpy.common-0.1.3] startup +[1.867s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[1.870s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T03:34:46Z [1,854ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.872s] [ext: omni.physics.tensors-107.3.26] startup +[1.876s] [ext: omni.warp.core-1.8.2] startup +[1.984s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[1.985s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:34:46Z [1,972ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[1.991s] [ext: omni.physx.tensors-107.3.26] startup +[1.996s] [ext: isaacsim.core.utils-3.5.1] startup +[1.998s] [ext: omni.graph.image.core-0.6.1] startup +[2.000s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.075s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.077s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.079s] [ext: isaacsim.core.prims-0.6.1] startup +[2.101s] [ext: omni.syntheticdata-0.6.13] startup +[2.112s] [ext: isaacsim.core.api-4.8.0] startup +[2.127s] [ext: omni.videoencoding-0.1.2] startup +[2.130s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.131s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.133s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.134s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.135s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.138s] [ext: omni.graph.nodes-1.170.10] startup +[2.146s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.148s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.151s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:34:46Z [2,134ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.152s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.157s] [ext: omni.warp-1.8.2] startup +[2.160s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.173s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.175s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.185s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.249s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:34:46Z [2,251ms] [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 +2026-09-21T03:34:46Z [2,320ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:34:46Z [2,320ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:34:46Z [2,321ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.341s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.345s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.354s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.365s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:34:46Z [2,350ms] [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. +[2.954s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.964s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.066s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.104s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.139s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.144s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:34:47Z [3,131ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.187s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.216s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:34:47Z [3,210ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.229s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:34:47Z [3,224ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.244s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[3.324s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:34:47Z [3,308ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:34:47Z [3,308ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:34:47Z [3,326ms] [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. +[3.344s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[3.362s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:34:47Z [3,344ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.363s] [ext: omni.kit.selection-0.1.6] startup +[3.366s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.376s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:34:47Z [3,359ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,361ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,362ms] [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. +2026-09-21T03:34:47Z [3,363ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,365ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,367ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,367ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,367ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,367ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:34:47Z [3,367ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.386s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.403s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.465s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.469s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:34:48Z [3,453ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.471s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.474s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,459ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +2026-09-21T03:34:48Z [3,460ms] [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. +[3.479s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:34:48Z [3,463ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.482s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:34:48Z [3,468ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:34:48Z [3,470ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.488s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:34:48Z [3,472ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.491s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:34:48Z [3,474ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.494s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.498s] [ext: omni.isaac.utils-2.0.6] startup +[3.500s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.506s] [ext: isaacsim.app.about-2.0.11] startup +[3.509s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:34:48Z [3,492ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.510s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.511s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:34:48Z [3,495ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:34:48Z [3,496ms] [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. +2026-09-21T03:34:48Z [3,496ms] [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. +2026-09-21T03:34:48Z [3,496ms] [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. +2026-09-21T03:34:48Z [3,497ms] [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. +2026-09-21T03:34:48Z [3,497ms] [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. +2026-09-21T03:34:48Z [3,497ms] [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. +2026-09-21T03:34:48Z [3,497ms] [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. +2026-09-21T03:34:48Z [3,497ms] [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. +2026-09-21T03:34:48Z [3,498ms] [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. +2026-09-21T03:34:48Z [3,499ms] [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. +2026-09-21T03:34:48Z [3,499ms] [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. +[3.518s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:34:48Z [3,505ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:34:48Z [3,506ms] [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. +[3.525s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.532s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:34:48Z [3,514ms] [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. +[3.532s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.539s] [ext: omni.kit.property.audio-1.0.16] startup +[3.540s] [ext: omni.kit.property.camera-1.0.10] startup +[3.542s] [ext: omni.sensors.net-1.0.0] startup +[3.544s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.547s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.549s] [ext: omni.kit.property.light-1.0.12] startup +[3.602s] [ext: omni.kit.property.material-1.11.9] startup +[3.606s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.607s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.609s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.613s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.619s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.622s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.624s] [ext: omni.kit.property.render-1.2.1] startup +[3.625s] [ext: omni.kit.property.transform-1.5.13] startup +[3.628s] [ext: isaacsim.gui.property-1.1.3] startup +[3.630s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.634s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.639s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.647s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.651s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.653s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:34:48Z [3,636ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:34:48Z [3,636ms] [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. +[3.654s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:34:48Z [3,639ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:34:48Z [3,639ms] [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. +[3.658s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.670s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:34:48Z [3,654ms] [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. +2026-09-21T03:34:48Z [3,654ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:34:48Z [3,654ms] [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. +2026-09-21T03:34:48Z [3,654ms] [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. +2026-09-21T03:34:48Z [3,654ms] [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. +2026-09-21T03:34:48Z [3,655ms] [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. +2026-09-21T03:34:48Z [3,655ms] [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. +2026-09-21T03:34:48Z [3,655ms] [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. +2026-09-21T03:34:48Z [3,656ms] [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. +2026-09-21T03:34:48Z [3,656ms] [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. +2026-09-21T03:34:48Z [3,656ms] [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. +[3.675s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:34:48Z [3,659ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.677s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.686s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.688s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.689s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.691s] [ext: omni.ocio-0.1.1] startup +[3.694s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.701s] [ext: omni.kit.window.console-1.1.4] startup +[3.709s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.713s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:34:48Z [3,695ms] [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. +[3.713s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.719s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.723s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.730s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:34:48Z [3,713ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.731s] [ext: semantics.schema.editor-2.0.2] startup +[3.735s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.737s] [ext: semantics.schema.property-2.0.1] startup +[3.738s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:34:48Z [3,721ms] [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. +2026-09-21T03:34:48Z [3,721ms] [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. +2026-09-21T03:34:48Z [3,721ms] [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. +[3.739s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:34:48Z [3,723ms] [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. +2026-09-21T03:34:48Z [3,723ms] [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. +2026-09-21T03:34:48Z [3,724ms] [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. +2026-09-21T03:34:48Z [3,724ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.742s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.752s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.757s] [ext: omni.kit.menu.common-2.0.1] startup +[3.759s] [ext: isaacsim.exp.base-5.1.0] startup +[3.760s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.761s] Simulation App Starting +2026-09-21T03:34:48Z [4,023ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.075s] app ready +[5.937s] Simulation App Startup Complete +[6.249s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:34:50Z [6,315ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:34:51Z [7,248ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.982] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.062] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:35:50Z [65,953ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:35:53Z [68,729ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,729ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,844ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,844ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,876ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,876ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,911ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,946ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,946ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [68,947ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,001ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,002ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,056ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,056ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,058ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,058ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:53Z [69,066ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,859ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,859ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,860ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,902ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,928ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,935ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,946ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,946ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,954ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,954ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,962ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,963ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [69,971ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [70,143ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [70,143ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:54Z [70,144ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:54Z [70,144ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,423ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,446ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,446ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,447ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,447ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,565ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:35:55Z [70,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:35:56Z [71,490ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:15.524] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:15.564] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:36:04Z [80,243ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:24.791] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:24.794] [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. +2026-09-21T03:36:05Z [81,103ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:36:05Z [81,104ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:36:05Z [81,106ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:36:05Z [81,107ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:36:08Z [84,082ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:36:10Z [85,786ms] [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 +2026-09-21T03:36:13Z [88,708ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 608, in deposit + self.approach("deposit:" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 168, in approach + raise RecoveryFailure("no_traversable_route") +task01_recovery.control.RecoveryFailure: no_traversable_route + +2026-09-21T03:41:05Z [380,428ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:41:05Z [380,428ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:41:05Z [380,428ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[380.544s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..94d01601c8b8210cebdf6a42e26958d13f9c4458 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f000901/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version 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"approach_candidates", "key": "deposit:can_of_soda_115", "target": [3.998058557510376, -0.1420116424560547], "evaluated": 36, "traversable": 0, "previously_tried": 0, "chosen": null} +{"step": 19, "event": "primitive_failure", "operation": "deposit:can_of_soda_115", "reason": "no_traversable_route", "attempt": 3} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..51c85b8f53b68fa1889baa03eda02f9b3cef10e7 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/19 [00:00\n operation = lambda: self.deposit(obj, arm)\n ^^^^^^^^^^^^^^^^^^^^^^\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 608, in deposit\n self.approach(\"deposit:\" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25)\n File \"/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py\", line 168, in approach\n raise RecoveryFailure(\"no_traversable_route\")\ntask01_recovery.control.RecoveryFailure: no_traversable_route\n", + "steps": 19, + "final_task": { + "inside": { + "can__of__soda.n.01_3": false, + "can__of__soda.n.01_1": false, + "can__of__soda.n.01_2": false + }, + "success": false, + "goal_status": { + "satisfied": [], + "unsatisfied": [ + 0 + ] + }, + "held": { + "left": "can_of_soda_115", + "right": "can_of_soda_113" + }, + "eef_world": { + "left": [ + [ + 4.876190185546875, + 6.905361175537109, + 0.46166694164276123 + ], + [ + -0.6313742399215698, + 0.7082136273384094, + 0.13485732674598694, + 0.2856810390949249 + ] + ], + "right": [ + [ + 5.188512802124023, + 6.785292148590088, + 0.445967435836792 + ], + [ + -0.6827138066291809, + 0.6652094125747681, + 0.2784610986709595, + 0.11771897226572037 + ] + ] + }, + "bin_name": "ashcan.n.01_1", + "object_positions": { + "can__of__soda.n.01_3": [ + 5.1632232666015625, + 6.812098026275635, + 0.39891380071640015 + ], + "can__of__soda.n.01_1": [ + 4.878011703491211, + 6.932264804840088, + 0.4019710123538971 + ], + "can__of__soda.n.01_2": [ + 3.622136116027832, + 6.504882335662842, + 0.07145717740058899 + ], + "ashcan.n.01_1": [ + 3.998058557510376, + -0.1420116424560547, + 0.13483589887619019 + ] + }, + "robot_pose": [ + [ + 4.887272357940674, + 6.209185600280762, + 0.00528523325920105 + ], + [ + -5.599763244390488e-05, + 5.852546019013971e-05, + 0.6239189505577087, + 0.7814891934394836 + ] + ] + }, + "driver": { + "returncode": 0, + "wall_seconds": 400 + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/preview.jpg b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/preview.jpg new file mode 100644 index 0000000000000000000000000000000000000000..512513ff1d0f42c41e76bcfa4a36a73797f38a80 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/preview.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98ff9dcd1a164c35bed26ed45d05a19bcc396631943ada9bad872036420b28ae +size 444410 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/run.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/run.log new file mode 100644 index 0000000000000000000000000000000000000000..204fcc4789ad424b169562526f83c510f54774a6 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/run.log @@ -0,0 +1,629 @@ +RECOVERY building environment +[00:00:05.796] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... ----- +Starting kit application with the following args: ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1'] +Passing the following args to the base kit application: ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data'] +[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260922_072707.log +[0.133s] [ext: omni.kit.async_engine-0.0.3] startup +DEBUG:asyncio:Using selector: EpollSelector +[0.402s] [ext: omni.metrics.core-0.0.3] startup +[0.402s] [ext: omni.client.lib-1.1.0] startup +[0.412s] [ext: omni.blobkey-1.1.2] startup +[0.413s] [ext: omni.stats-1.0.1] startup +[0.414s] [ext: omni.datastore-0.0.0] startup +[0.421s] [ext: omni.client-1.3.0] startup +[0.424s] [ext: omni.ujitso.default-1.0.0] startup +[0.426s] [ext: omni.hsscclient-1.1.2] startup +[0.587s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.589s] [ext: omni.assets.plugins-0.0.0] startup +[0.591s] [ext: omni.gpu_foundation-0.0.0] startup +[0.604s] [ext: carb.windowing.plugins-1.0.0] startup +2026-09-21T23:27:07Z [532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:07Z [532ms] [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) +[0.606s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-09-21T23:27:07Z [558ms] [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: 46623 +| Total Page/Swap (MB): 2047 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-09-21T23:27:08Z [1,265ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +[1.463s] [ext: omni.materialx.libs-1.0.7] startup +[1.479s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.479s] [ext: omni.kit.test-2.0.1] startup +[1.494s] [ext: omni.usd.config-1.0.6] startup +[1.495s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.496s] [ext: omni.usd.libs-1.0.1] startup +[1.622s] [ext: omni.kit.telemetry-0.5.2] startup +[1.643s] [ext: omni.mdl-56.0.3] startup +[1.660s] [ext: omni.iray.libs-0.0.0] startup +[1.664s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.666s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.754s] [ext: omni.kit.pipapi-0.0.0] startup +[1.754s] [ext: omni.appwindow-1.1.10] startup +2026-09-21T23:27:08Z [1,681ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,681ms] [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) +[1.757s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-09-21T23:27:08Z [1,702ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,702ms] [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) +2026-09-21T23:27:08Z [1,708ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,708ms] [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) +[1.783s] [ext: omni.kit.renderer.capture-0.0.0] startup +[1.785s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-09-21T23:27:08Z [1,714ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,714ms] [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) +2026-09-21T23:27:08Z [1,715ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,715ms] [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) +2026-09-21T23:27:08Z [1,716ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-09-21T23:27:08Z [1,716ms] [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) +[1.843s] [ext: omni.ui-2.27.1] startup +[1.855s] [ext: omni.kit.mainwindow-1.0.3] startup +[1.857s] [ext: carb.audio-0.1.0] startup +[1.863s] [ext: omni.uiaudio-1.0.0] startup +[1.864s] [ext: omni.kit.uiapp-0.0.0] startup +[1.864s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[1.866s] [ext: omni.usd.schema.audio-0.0.0] startup +[1.870s] [ext: omni.usd_resolver-1.0.0] startup +[1.878s] [ext: omni.usd.core-1.5.3] startup +[1.882s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[1.906s] [ext: omni.usd.schema.anim-0.0.0] startup +[1.931s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[1.936s] [ext: omni.usd.schema.semantics-0.0.0] startup +[1.940s] [ext: omni.kit.actions.core-1.0.0] startup +[1.943s] [ext: omni.activity.core-1.0.3] startup +[1.944s] [ext: omni.kit.commands-1.4.10] startup +[1.948s] [ext: usdrt.scenegraph-7.6.1] startup +[1.987s] [ext: omni.resourcemonitor-107.0.1] startup +[1.989s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[1.990s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.003s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.003s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.008s] [ext: omni.graph.exec-0.9.6] startup +[2.009s] [ext: omni.timeline-1.0.14] startup +[2.011s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.013s] [ext: omni.kit.exec.core-0.13.4] startup +[2.015s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.025s] [ext: omni.usd-1.13.10] startup +[2.056s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.072s] [ext: omni.usd.schema.isaac-3.0.5] startup +[2.072s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.082s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.097s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.105s] [ext: omni.usd.schema.flow-107.1.1] startup +[2.105s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.105s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.145s] [ext: omni.inspect-1.0.2] startup +[2.147s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.149s] [ext: omni.graph.core-2.184.5] startup +[2.154s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.155s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.156s] [ext: omni.anim.graph.schema-107.3.3] startup +[2.165s] [ext: omni.anim.navigation.schema-107.3.3] startup +[2.170s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.170s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.175s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.175s] [ext: omni.kit.clipboard-1.0.5] startup +[2.177s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.186s] [ext: omni.ui.scene-1.11.5] startup +[2.192s] [ext: omni.index.libs-380600.8087.0] startup +[2.192s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.200s] [ext: omni.index-1.0.1] startup +[2.201s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.203s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.205s] [ext: omni.volume-0.5.2] startup +[2.212s] [ext: omni.ujitso.client-0.0.0] startup +[2.212s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.214s] [ext: omni.kit.menu.core-1.1.2] startup +[2.214s] [ext: omni.hydra.rtx-1.0.0] startup +2026-09-21T23:27:09Z [2,180ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.284s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.285s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.289s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.290s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.297s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.307s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.313s] [ext: omni.kit.context_menu-1.8.6] startup +[2.315s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.318s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.319s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.320s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.327s] [ext: omni.kit.material.library-2.0.7] startup +[2.330s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.330s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.333s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.344s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[2.345s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.345s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.346s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.346s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.347s] [ext: omni.kit.browser.core-2.3.13] startup +[2.349s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.349s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.356s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[2.358s] [ext: omni.kit.window.file-2.0.5] startup +[2.360s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.360s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.361s] [ext: omni.kit.usd.collect-2.4.5] startup +[2.362s] [ext: omni.graph.tools-1.79.2] startup +DEBUG:AutoNode:Defining data type 'any' as 'Any' +DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray +DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle' +DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray +DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray +DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray +DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray +DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray +DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray +DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray +DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array +DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array +DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array +DEBUG:AutoNode:Defining data type 'execution' as 'Execution' +DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray +DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array +DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array +DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array +DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray +DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray +DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array +DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array +DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array +DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray +DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array +DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array +DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array +DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array +DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray +DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray +DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray +DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray +DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray +DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray +DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray +DEBUG:AutoNode:Defining data type 'path' as 'Path' +DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray +DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray +DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray +DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray +DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray +DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray +DEBUG:AutoNode:Defining data type 'string' as 'String' +DEBUG:AutoNode:Defining data type 'target' as 'Target' +DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray +DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray +DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray +DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray +DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray +DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray +DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray +DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray +DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray +DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray +DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array +DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray +DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray +DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray +[2.376s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.383s] [ext: omni.kit.usdz_export-1.0.9] startup +[2.384s] [ext: omni.graph.action_core-1.1.7] startup +[2.385s] [ext: omni.graph-1.141.2] startup +[2.411s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[2.411s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[2.415s] [ext: omni.graph.action_nodes-1.50.4] startup +[2.420s] [ext: omni.kit.window.stage-2.6.1] startup +[2.426s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.429s] [ext: omni.graph.action-1.130.0] startup +[2.429s] [ext: omni.kit.menu.stage-1.2.7] startup +[2.431s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.434s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.436s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.443s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.452s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.455s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.457s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.457s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.465s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.466s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.467s] [ext: omni.kit.window.property-1.12.1] startup +[2.469s] [ext: omni.ui_query-1.1.8] startup +[2.470s] [ext: omni.kit.property.usd-4.5.12] startup +[2.476s] [ext: omni.kit.menu.create-2.0.1] startup +[2.478s] [ext: isaacsim.core.version-2.0.6] startup +[2.479s] [ext: omni.kit.ui_test-1.3.7] startup +[2.480s] [ext: omni.kit.scripting-107.3.2] startup +[2.483s] [ext: omni.convexdecomposition-107.3.26] startup +[2.486s] [ext: isaacsim.storage.native-1.5.1] startup +[2.487s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.493s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.496s] [ext: omni.kvdb-107.3.26] startup +[2.498s] [ext: omni.usdphysics-107.3.26] startup +[2.500s] [ext: omni.physx.foundation-107.3.26] startup +[2.502s] [ext: omni.localcache-107.3.26] startup +[2.503s] [ext: omni.kit.window.extensions-1.4.27] startup +[2.507s] [ext: omni.physx.cooking-107.3.26] startup +[2.511s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.512s] [ext: omni.physx-107.3.26] startup +[2.521s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[2.525s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[2.526s] [ext: omni.kit.tool.collect-2.2.18] startup +[2.530s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.535s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.537s] [ext: isaacsim.gui.components-1.2.1] startup +[2.539s] [ext: isaacsim.examples.browser-0.2.1] startup +[2.542s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup +[2.626s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.628s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.635s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.640s] [ext: omni.fabric.commands-1.1.6] startup +[2.642s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.643s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.644s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.652s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.653s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.653s] [ext: omni.debugdraw-0.1.4] startup +[2.658s] [ext: omni.physics-107.3.26] startup +[2.660s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.678s] [ext: omni.physx.commands-107.3.26] startup +[2.682s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.683s] [ext: omni.kit.window.toolbar-2.0.0] startup +[2.685s] [ext: omni.physx.ui-107.3.26] startup +[2.706s] [ext: omni.kit.widget.graph-2.0.0] startup +[2.711s] [ext: omni.physx.supportui-107.3.26] startup +[2.720s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[2.721s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.723s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.726s] [ext: omni.physics.physx-107.3.26] startup +2026-09-21T23:27:09Z [2,654ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.728s] [ext: omni.physics.tensors-107.3.26] startup +[2.732s] [ext: omni.warp.core-1.8.2] startup +[2.847s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.849s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T23:27:09Z [2,783ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.858s] [ext: omni.physx.tensors-107.3.26] startup +[2.865s] [ext: isaacsim.core.utils-3.5.1] startup +[2.871s] [ext: omni.graph.image.core-0.6.1] startup +[2.873s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.954s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.956s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.957s] [ext: isaacsim.core.prims-0.6.1] startup +[2.972s] [ext: omni.syntheticdata-0.6.13] startup +[2.984s] [ext: isaacsim.core.api-4.8.0] startup +[3.000s] [ext: omni.videoencoding-0.1.2] startup +[3.003s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[3.004s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[3.007s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[3.008s] [ext: isaacsim.simulation_app-2.12.2] startup +[3.008s] [ext: omni.graph.ui_nodes-1.50.5] startup +[3.012s] [ext: omni.graph.nodes-1.170.10] startup +[3.026s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[3.029s] [ext: isaacsim.test.docstring-1.1.0] startup +[3.033s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T23:27:10Z [2,960ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[3.034s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[3.047s] [ext: omni.warp-1.8.2] startup +[3.053s] [ext: omni.kit.window.material_graph-1.9.1] startup +[3.065s] [ext: omni.graph.scriptnode-1.50.0] startup +[3.068s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[3.088s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[3.147s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T23:27:10Z [3,095ms] [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 +2026-09-21T23:27:10Z [3,208ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T23:27:10Z [3,208ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T23:27:10Z [3,209ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[3.285s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[3.289s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[3.295s] [ext: isaacsim.core.nodes-3.4.3] startup +[3.312s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T23:27:10Z [3,241ms] [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. +[3.317s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[3.322s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[3.341s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[3.356s] [ext: isaacsim.core.throttling-2.2.2] startup +[3.362s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[3.365s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T23:27:10Z [3,298ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[3.389s] [ext: isaacsim.cortex.framework-1.0.12] startup +[3.403s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T23:27:10Z [3,337ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[3.412s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T23:27:10Z [3,340ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[3.415s] [ext: omni.anim.curve.core-1.3.1] startup +[3.484s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T23:27:10Z [3,439ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:27:10Z [3,440ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T23:27:10Z [3,492ms] [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. +[3.567s] [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. +[3.676s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T23:27:10Z [3,603ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[3.678s] [ext: omni.kit.selection-0.1.6] startup +[3.680s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[3.687s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T23:27:10Z [3,614ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,614ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,614ms] [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. +2026-09-21T23:27:10Z [3,615ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,615ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,615ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,616ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,616ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,616ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T23:27:10Z [3,616ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[3.690s] [ext: isaacsim.gui.menu-2.4.4] startup +[3.710s] [ext: isaacsim.sensors.physics-0.4.3] startup +[3.727s] [ext: isaacsim.asset.browser-1.3.23] startup +[3.732s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T23:27:10Z [3,659ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[3.734s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[3.741s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T23:27:10Z [3,669ms] [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. +2026-09-21T23:27:10Z [3,670ms] [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. +2026-09-21T23:27:10Z [3,671ms] [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. +2026-09-21T23:27:10Z [3,671ms] [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. +2026-09-21T23:27:10Z [3,671ms] [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. +2026-09-21T23:27:10Z [3,674ms] [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. +2026-09-21T23:27:10Z [3,674ms] [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. +2026-09-21T23:27:10Z [3,674ms] [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. +2026-09-21T23:27:10Z [3,675ms] [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. +2026-09-21T23:27:10Z [3,676ms] [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. +2026-09-21T23:27:10Z [3,676ms] [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. +2026-09-21T23:27:10Z [3,678ms] [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. +2026-09-21T23:27:10Z [3,678ms] [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. +2026-09-21T23:27:10Z [3,678ms] [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. +2026-09-21T23:27:10Z [3,678ms] [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. +2026-09-21T23:27:10Z [3,679ms] [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. +[3.753s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T23:27:10Z [3,681ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.756s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T23:27:10Z [3,684ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T23:27:10Z [3,685ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[3.759s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T23:27:10Z [3,686ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[3.761s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T23:27:10Z [3,690ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[3.764s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[3.771s] [ext: omni.isaac.utils-2.0.6] startup +[3.773s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[3.786s] [ext: isaacsim.app.about-2.0.11] startup +[3.789s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T23:27:10Z [3,716ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[3.790s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[3.791s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T23:27:10Z [3,719ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T23:27:10Z [3,720ms] [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. +2026-09-21T23:27:10Z [3,720ms] [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. +2026-09-21T23:27:10Z [3,720ms] [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. +2026-09-21T23:27:10Z [3,721ms] [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. +2026-09-21T23:27:10Z [3,721ms] [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. +2026-09-21T23:27:10Z [3,721ms] [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. +2026-09-21T23:27:10Z [3,721ms] [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. +2026-09-21T23:27:10Z [3,722ms] [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. +2026-09-21T23:27:10Z [3,722ms] [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. +2026-09-21T23:27:10Z [3,722ms] [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. +2026-09-21T23:27:10Z [3,726ms] [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. +[3.800s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T23:27:10Z [3,730ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T23:27:10Z [3,730ms] [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. +[3.805s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.809s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T23:27:10Z [3,735ms] [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. +[3.809s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.816s] [ext: omni.kit.property.audio-1.0.16] startup +[3.818s] [ext: omni.kit.property.camera-1.0.10] startup +[3.819s] [ext: omni.sensors.net-1.0.0] startup +[3.821s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.826s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.828s] [ext: omni.kit.property.light-1.0.12] startup +[3.884s] [ext: omni.kit.property.material-1.11.9] startup +[3.888s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.890s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.892s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.900s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.906s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.910s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.914s] [ext: omni.kit.property.render-1.2.1] startup +[3.915s] [ext: omni.kit.property.transform-1.5.13] startup +[3.919s] [ext: isaacsim.gui.property-1.1.3] startup +[3.921s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.930s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.939s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.951s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.956s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.962s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T23:27:11Z [3,889ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T23:27:11Z [3,889ms] [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. +[3.963s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T23:27:11Z [3,890ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T23:27:11Z [3,890ms] [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. +[3.965s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.979s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T23:27:11Z [3,907ms] [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. +2026-09-21T23:27:11Z [3,907ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T23:27:11Z [3,907ms] [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. +2026-09-21T23:27:11Z [3,907ms] [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. +2026-09-21T23:27:11Z [3,907ms] [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. +2026-09-21T23:27:11Z [3,907ms] [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. +2026-09-21T23:27:11Z [3,908ms] [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. +2026-09-21T23:27:11Z [3,908ms] [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. +2026-09-21T23:27:11Z [3,910ms] [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. +2026-09-21T23:27:11Z [3,910ms] [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. +2026-09-21T23:27:11Z [3,910ms] [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. +[3.985s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T23:27:11Z [3,914ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.988s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.997s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.999s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[4.001s] [ext: isaacsim.replicator.examples-1.3.6] startup +[4.004s] [ext: omni.ocio-0.1.1] startup +[4.008s] [ext: omni.rtx.window.settings-0.6.19] startup +[4.025s] [ext: omni.kit.window.console-1.1.4] startup +[4.034s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.041s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T23:27:11Z [3,968ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly. +[4.042s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[4.048s] [ext: omni.rtx.settings.core-0.6.5] startup +[4.052s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[4.065s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T23:27:11Z [3,992ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[4.066s] [ext: semantics.schema.editor-2.0.2] startup +[4.073s] [ext: omni.kit.ui.actions-1.0.5] startup +[4.075s] [ext: semantics.schema.property-2.0.1] startup +[4.076s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T23:27:11Z [4,003ms] [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. +2026-09-21T23:27:11Z [4,003ms] [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. +2026-09-21T23:27:11Z [4,004ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly. +[4.079s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T23:27:11Z [4,007ms] [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. +2026-09-21T23:27:11Z [4,007ms] [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. +2026-09-21T23:27:11Z [4,007ms] [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. +2026-09-21T23:27:11Z [4,007ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[4.082s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[4.092s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[4.099s] [ext: omni.kit.menu.common-2.0.1] startup +[4.102s] [ext: isaacsim.exp.base-5.1.0] startup +[4.102s] [ext: omnigibson_5_1_0-3.9.2] startup +[4.103s] Simulation App Starting +2026-09-21T23:27:11Z [4,590ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[4.694s] app ready +[6.675s] Simulation App Startup Complete +[7.097s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T23:27:14Z [7,128ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T23:27:15Z [8,044ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:13.978] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:14.113] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T23:28:19Z [72,577ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:28:22Z [75,490ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,491ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,611ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,643ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,644ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,678ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,679ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,679ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,713ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,714ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,744ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,798ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,798ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,799ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,799ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,800ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:22Z [75,808ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,619ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,655ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,676ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,676ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,683ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,683ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,693ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,702ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,710ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,710ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:23Z [76,718ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [76,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [76,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [76,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [76,894ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,203ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,203ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,204ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,240ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,359ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T23:28:24Z [77,359ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T23:28:25Z [78,343ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:24.645] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:24.684] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T23:28:34Z [87,175ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:34.331] [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. +[00:01:34.335] [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. +2026-09-21T23:28:35Z [88,436ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:28:35Z [88,437ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:28:35Z [88,438ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:28:35Z [88,439ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:28:38Z [91,351ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T23:28:41Z [94,032ms] [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 +2026-09-21T23:28:41Z [94,134ms] [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 +2026-09-21T23:28:44Z [97,096ms] [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 +2026-09-21T23:28:44Z [97,171ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +Traceback (most recent call last): + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/run.py", line 98, in main + result = Teacher(runtime, references).run() + ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1516, in run + operation() + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 1472, in + operation = lambda: self.deposit(obj, arm) + ^^^^^^^^^^^^^^^^^^^^^^ + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 608, in deposit + self.approach("deposit:" + obj.name, bp[:2], arm, distances=(.68, .62, .74), lateral=.25) + File "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/campaigns/vla_failure_recovery_20260918/snapshot/task01_recovery/teacher.py", line 168, in approach + raise RecoveryFailure("no_traversable_route") +task01_recovery.control.RecoveryFailure: no_traversable_route + +2026-09-21T23:33:31Z [384,216ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:33:31Z [384,216ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T23:33:31Z [384,216ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[384.396s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/attempt_001/supervision_mask.npy 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"/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017360.json", + "frame": 1519, + "start_type": "judgement_seed", + "chunk_index": 2, + "chunk_span": [ + 1519, + 10535 + ], + "reason": "Row is `no progress`: after grasping both cans the robot walks to the patio door and freezes; head view unchanged f2000\u2192f10000 sampled at stride \u22482000, no `Inside` predicate ever fires. Right hand eventually opens at f10151 and can_113 drops onto empty patio floor (OnTop(can_113, floor) true at f10161), not into any receptacle \u2014 this is not a place primitive. Seed at first frame is the earliest moment of the stall. `place in` with can_113\u2192trash_can_116 is the correct intended action here, chosen right-arm because right holds can_113; the state is nearly unrecoverable because trash_can_116 was never picked and both hands are loaded, so this seed exists mainly for subtask training on a heavily-degraded start." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1eaa32450ba7c6250e3bc5845f53f73439d368 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017360-f001519/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017360-f001519", + 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"video.pix_fmt": "gray12le", + "video.fps": 30, + "video.channels": 1, + "has_audio": false, + "video.g": null, + "video.crf": null, + "video.preset": null, + "video.fast_decode": null, + "video.video_backend": "pyav", + "video.extra_options": null, + "video.depth_min": 0.01, + "video.depth_max": 10.0, + "video.shift": 3.5, + "video.use_log": true, + "is_depth_map": true, + "depth_unit": "mm", + "video.output_unit": "mm" + } + }, + "observation.rgb.zed_link_camera_0": { + "dtype": "video", + "shape": [ + 720, + 720, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "info": { + "is_depth_map": false, + "video.height": 720, + "video.width": 720, + "video.codec": "hevc", + "video.pix_fmt": "yuv420p", + "video.fps": 30, + "video.channels": 3, + "has_audio": false, + "video.g": 8, + "video.crf": 30, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "pyav", + "video.extra_options": { + "x265-params": "log-level=0:bframes=0" + } + } + }, + "timestamp": { 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Right hand is still gripping trash_can_116 at f5696, so only the left hand is free." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc7a44afbc3d108d643356ca2e55f2de6cb47c2b --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/events.jsonl @@ -0,0 +1,259 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/datasets/human/rawdata/task-0001/episode_00010010.hdf5", "object_to_eef": [[-0.18692121416468344, 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-0.4761518791704147, 0.03536103331169178], [0.5045329693187203, 0.5366391324739263, 0.41094204593021305]]} +{"step": 1286, "event": "joint_tracking", "max_error_rad": 0.004285871982574463} +{"step": 1286, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.114222049713135, 6.020870208740234, 0.6179253458976746], "desired_xyz": [4.114217624974934, 6.020854534942736, 0.617956205338531], "error_m": 3.4893428122356833e-05} +{"step": 1286, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 651, "end": 1286} +{"step": 1286, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_1": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_2": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.114222049713135, 6.020870208740234, 0.6179253458976746], [-0.8766703009605408, 0.48102742433547974, -0.003703795373439789, 0.006935144774615765]], "right": [[4.288089275360107, 6.112696647644043, 0.43997251987457275], [-0.7542584538459778, 0.60845547914505, 0.24065126478672028, 0.05443355441093445]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_1": [4.209875583648682, 6.118597507476807, 0.34825554490089417], "can__of__soda.n.01_3": [4.146801948547363, 6.0540642738342285, 0.3549950122833252], "can__of__soda.n.01_2": [4.161746978759766, 6.088965892791748, 0.24942032992839813], "ashcan.n.01_1": [4.172453880310059, 6.0921502113342285, 0.3450028896331787]}, "robot_pose": [[4.567668437957764, 5.503910064697266, 0.00528542697429657], [-7.336772978305817e-05, 3.32779782183934e-05, 0.8712376952171326, 0.49086126685142517]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..19e6b5c485b025ae265ed593cecec6954ed268fe --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1171 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.945s] [ext: omni.physics.tensors-107.3.26] startup +[1.948s] [ext: omni.warp.core-1.8.2] startup +[2.055s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.057s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-19T16:30:29Z [2,033ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.063s] [ext: omni.physx.tensors-107.3.26] startup +[2.068s] [ext: isaacsim.core.utils-3.5.1] startup +[2.071s] [ext: omni.graph.image.core-0.6.1] startup +[2.073s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.152s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.154s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.155s] [ext: isaacsim.core.prims-0.6.1] startup +[2.170s] [ext: omni.syntheticdata-0.6.13] startup +[2.180s] [ext: isaacsim.core.api-4.8.0] startup +[2.193s] [ext: omni.videoencoding-0.1.2] startup +[2.196s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.197s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.200s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.201s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.201s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.205s] [ext: omni.graph.nodes-1.170.10] startup +[2.214s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.217s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.220s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-19T16:30:29Z [2,191ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.220s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.226s] [ext: omni.warp-1.8.2] startup +[2.229s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.245s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.246s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.270s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.321s] [ext: omni.replicator.core-1.12.27] startup +2026-09-19T16:30:30Z [2,319ms] [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 +2026-09-19T16:30:30Z [2,397ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-19T16:30:30Z [2,397ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-19T16:30:30Z [2,398ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.429s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.432s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.435s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.448s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-19T16:30:30Z [2,422ms] [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. +[2.454s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.468s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.517s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.580s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.585s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.587s] [ext: omni.flowusd-107.1.8] startup +2026-09-19T16:30:30Z [2,563ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.636s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.650s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-19T16:30:30Z [2,657ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.708s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-19T16:30:30Z [2,692ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.722s] [ext: omni.anim.curve.core-1.3.1] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.795s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-19T16:30:30Z [2,767ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:30:30Z [2,767ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-19T16:30:30Z [2,783ms] [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. +[2.814s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[2.826s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-19T16:30:30Z [2,798ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.827s] [ext: omni.kit.selection-0.1.6] startup +[2.832s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.839s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-19T16:30:30Z [2,811ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,811ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,811ms] [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. +2026-09-19T16:30:30Z [2,812ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,813ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,814ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,814ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,814ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,814ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-19T16:30:30Z [2,815ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.845s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.859s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.866s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.870s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-19T16:30:30Z [2,842ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.872s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.875s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-19T16:30:30Z [2,847ms] [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. +2026-09-19T16:30:30Z [2,847ms] [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. +2026-09-19T16:30:30Z [2,848ms] [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. +2026-09-19T16:30:30Z [2,848ms] [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. +2026-09-19T16:30:30Z [2,848ms] [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. +2026-09-19T16:30:30Z [2,849ms] [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. +2026-09-19T16:30:30Z [2,850ms] [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. +2026-09-19T16:30:30Z [2,850ms] [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. +2026-09-19T16:30:30Z [2,850ms] [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. +2026-09-19T16:30:30Z [2,850ms] [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. +2026-09-19T16:30:30Z [2,850ms] [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. +2026-09-19T16:30:30Z [2,851ms] [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. +2026-09-19T16:30:30Z [2,851ms] [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. +2026-09-19T16:30:30Z [2,851ms] [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. +2026-09-19T16:30:30Z [2,851ms] [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. +2026-09-19T16:30:30Z [2,852ms] [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. +[2.881s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-19T16:30:30Z [2,854ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.884s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-19T16:30:30Z [2,858ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-19T16:30:30Z [2,862ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.892s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-19T16:30:30Z [2,865ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.895s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-19T16:30:30Z [2,869ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.899s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.905s] [ext: omni.isaac.utils-2.0.6] startup +[2.907s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.925s] [ext: isaacsim.app.about-2.0.11] startup +[2.927s] [ext: omni.isaac.version-2.0.7] startup +2026-09-19T16:30:30Z [2,898ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.928s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.929s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-19T16:30:30Z [2,902ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-19T16:30:30Z [2,902ms] [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. +2026-09-19T16:30:30Z [2,902ms] [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. +2026-09-19T16:30:30Z [2,902ms] [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. +2026-09-19T16:30:30Z [2,902ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +2026-09-19T16:30:30Z [2,903ms] [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. +[2.933s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-19T16:30:30Z [2,909ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-19T16:30:30Z [2,909ms] [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. +[2.939s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[2.942s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-19T16:30:30Z [2,913ms] [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. +[2.943s] [ext: omni.sensors.nv.common-3.0.0] startup +[2.951s] [ext: omni.kit.property.audio-1.0.16] startup +[2.952s] [ext: omni.kit.property.camera-1.0.10] startup +[2.953s] [ext: omni.sensors.net-1.0.0] startup +[2.957s] [ext: omni.sensors.nv.materials-2.0.0] startup +[2.961s] [ext: omni.kit.property.geometry-2.0.4] startup +[2.964s] [ext: omni.kit.property.light-1.0.12] startup +[3.031s] [ext: omni.kit.property.material-1.11.9] startup +[3.035s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.037s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.038s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.042s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.049s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.052s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.055s] [ext: omni.kit.property.render-1.2.1] startup +[3.056s] [ext: omni.kit.property.transform-1.5.13] startup +[3.059s] [ext: isaacsim.gui.property-1.1.3] startup +[3.061s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.066s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.072s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.081s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.086s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.089s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-19T16:30:30Z [3,061ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-19T16:30:30Z [3,061ms] [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. +[3.090s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-19T16:30:30Z [3,063ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-19T16:30:30Z [3,063ms] [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. +[3.093s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.103s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-19T16:30:30Z [3,075ms] [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. +2026-09-19T16:30:30Z [3,075ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,076ms] [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. +2026-09-19T16:30:30Z [3,077ms] [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. +2026-09-19T16:30:30Z [3,078ms] [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. +2026-09-19T16:30:30Z [3,078ms] [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. +[3.107s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-19T16:30:30Z [3,079ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.109s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.119s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.121s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.122s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.124s] [ext: omni.ocio-0.1.1] startup +[3.126s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.133s] [ext: omni.kit.window.console-1.1.4] startup +[3.142s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.146s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-19T16:30:30Z [3,117ms] [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. +[3.147s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.151s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.155s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.168s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-19T16:30:30Z [3,140ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.169s] [ext: semantics.schema.editor-2.0.2] startup +[3.173s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.175s] [ext: semantics.schema.property-2.0.1] startup +[3.176s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-19T16:30:30Z [3,147ms] [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. +2026-09-19T16:30:30Z [3,147ms] [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. +2026-09-19T16:30:30Z [3,148ms] [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. +[3.177s] [ext: omni.isaac.core-4.0.7] startup +2026-09-19T16:30:30Z [3,149ms] [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. +2026-09-19T16:30:30Z [3,149ms] [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. +2026-09-19T16:30:30Z [3,150ms] [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. +2026-09-19T16:30:30Z [3,150ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.179s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.192s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.197s] [ext: omni.kit.menu.common-2.0.1] startup +[3.199s] [ext: isaacsim.exp.base-5.1.0] startup +[3.199s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.200s] Simulation App Starting +2026-09-19T16:30:30Z [3,216ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-19T16:30:31Z [3,237ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.297s] app ready +[5.357s] Simulation App Startup Complete +[5.679s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-19T16:30:33Z [5,776ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-19T16:30:34Z [6,613ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:10.144] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:10.224] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-19T16:31:22Z [55,089ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:31:25Z [57,291ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,292ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,405ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,405ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,435ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,435ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,466ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,467ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,498ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,499ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,499ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,499ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,527ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,527ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,560ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,561ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,561ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [57,566ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,174ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,174ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,174ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,175ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,199ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,216ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,220ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,220ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:25Z [58,225ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,231ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,231ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,236ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,236ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,379ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,379ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,386ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,647ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,648ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,669ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,670ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,670ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,670ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,751ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-19T16:31:26Z [58,751ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-19T16:31:27Z [59,574ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:03.384] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:03.428] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-19T16:31:34Z [67,082ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:11.291] [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. +[00:01:11.293] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +2026-09-19T16:31:35Z [67,792ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:31:35Z [67,793ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:31:35Z [67,794ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:31:35Z [67,795ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:31:38Z [70,386ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-19T16:31:44Z [76,939ms] [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 +2026-09-19T16:31:51Z [83,978ms] [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 +2026-09-19T16:31:54Z [86,796ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 480 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +2026-09-19T16:34:18Z [230,596ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 600 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 720 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 840 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_2': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1200 release_into_aligned_bin {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-19T16:35:42Z [315,013ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:35:42Z [315,013ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-19T16:35:42Z [315,013ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[315.165s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..190f30a27ee934462408edd4a26ff26ba730ab3c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4451ec5a7372a2f2c6dde1ccfe94f9c0d1311d046b8da93295112ddba0dca488 +size 1299 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..3d92e2fb017a98ad02b3d0c816d350a6b4e51f35 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00017390-f005696/attempt_001", + "geometry_audit_version": 3, + "scope": "Conservative torso/base spheres, including the configured base padding; not actual mesh penetration.", + "source_handoff_end": 3, + "source_overlap_limit_m": 0.01, + "inherited_overlap_limit_m": null, + "generated_ancestor_envelopes": [], + "max_observed_overlap_m": 0.0, + "max_supervised_command_overlap_m": 0.0, + "flagged_supervised_steps": 0, + "flagged_frames": [], + "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785", + "review_required": false +} \ No newline at end of file diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/trajectory.hdf5 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/trajectory.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..503d2cacf7d8071464e465cd2a9bdc437ac3bb2c --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/trajectory.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:432833016c22bbd1d76e85fbafcd12b2622e5d2a27fa43b6bff50923390741fc +size 20695883 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/video.mp4 b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9469db3c039f88de2c86b8cdb3a51675691cad66 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/attempt_001/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:812d449fad037d14d215908f5a0a02fc102e488c243a5983eaaa6e4943b1513a +size 2315140 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/case.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/case.json new file mode 100644 index 0000000000000000000000000000000000000000..ab0d0220581e7de0bd36da8a1fb204c30bd0bfba --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/case.json @@ -0,0 +1,19 @@ +{ + "case_id": "vla-episode_00017390-f005696", + "kind": "vla", + "episode_id": "00017390", + "instance_id": 739, + "source_n_steps": 10536, + "seed_rank": 0, + "n_seeds_in_episode": 2, + "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00017390.hdf5", + "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00017390.json", + "frame": 5696, + "start_type": "judgement_seed", + "chunk_index": 5, + "chunk_span": [ + 5696, + 6147 + ], + "reason": "Ordering violation: the robot returns the trash can to the kitchen floor (OnTop(trash_can, floor) at f6120, right release at f6147) while can_of_soda_113 has never been touched \u2014 zero transitions in the log name can_of_soda.n.01_3. Card declares Order: fixed A->B->C->D, so D1 before all three B/C pairs is out of order. Seed is the row's first frame per the ordering rule. Right hand is still gripping trash_can_116 at f5696, so only the left hand is free." +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/complete.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/complete.json new file mode 100644 index 0000000000000000000000000000000000000000..3dad434a3a95cb67734e1a887b3e11b477446866 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f005696/complete.json @@ -0,0 +1,28 @@ +{ + "case_id": "vla-episode_00017390-f005696", + "episode_id": "00017390", + "instance_id": 739, + "start_type": "judgement_seed", + "source_frame": 5696, + "attempt": "attempt_001", + "completed_at": "2026-09-19T16:36:34+00:00", + "success": true, + "status": "completed", + "error": null, + "teacher_steps": 1316, + 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Head view swept at stride 500 from f6500 to f10500 shows kitchen wall identical across all eight samples. Seed at first frame per the no-progress rule. Trash can now rests on floor so no receptacle re-grasp is required; both grippers free and neither is closer to can_113, so arm is either." + } +} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/events.jsonl b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b52d388f117aa68503b0abc91ef4912c638f3785 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/events.jsonl @@ -0,0 +1,366 @@ +{"step": 0, "event": "references", "picks": [{"object": "trash_can_116", "kind": "bin", "arm": "left", "frame": 867, "source": 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{"can__of__soda.n.01_2": true, "can__of__soda.n.01_3": false, "can__of__soda.n.01_1": true}, "success": false, "goal_status": {"satisfied": [], "unsatisfied": [0]}, "held": {"left": "can_of_soda_113", "right": "trash_can_116"}, "eef_world": {"left": [[4.155364036560059, 6.155928134918213, 0.571654736995697], [0.958456814289093, -0.28512126207351685, 0.00458130706101656, -0.00674853753298521]], "right": [[4.244254112243652, 6.200242519378662, 0.42260468006134033], [0.933949887752533, -0.2610985338687897, -0.21415245532989502, -0.11706414818763733]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.14958381652832, 6.117861747741699, 0.20180299878120422], "can__of__soda.n.01_3": [4.155378818511963, 6.155737400054932, 0.5443190932273865], "can__of__soda.n.01_1": [4.19984245300293, 6.137118816375732, 0.3004830777645111], "ashcan.n.01_1": [4.1573381423950195, 6.120225429534912, 0.29710304737091064]}, "robot_pose": [[4.6994218826293945, 5.787982940673828, 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[4.111656665802002, 6.133720874786377, 0.2955161929130554], "can__of__soda.n.01_1": [4.207663059234619, 6.132585525512695, 0.30198824405670166], "ashcan.n.01_1": [4.158354759216309, 6.118922233581543, 0.2963814437389374]}, "robot_pose": [[4.6994218826293945, 5.787982940673828, 0.005285277962684631], [7.920153439044952e-05, -1.7083799320971593e-05, -0.9559759497642517, -0.29344525933265686]]}} +{"step": 1676, "event": "eef_target", "arm": "left", "body_xyz": [0.6567512896782954, 0.04044531177028915, 0.5663705482390622], "world_xyz": [4.133004394105759, 6.123020327099022, 0.5715492235241771], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1676, "event": "torso_collision_guard", "start_overlap_m": 6.919729942295172e-05, "allowed_overlap_m": 0.027274278772818877, "soft_overlap_target_m": 6.919729942295172e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1676, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, 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0.027274278772818877, "soft_overlap_target_m": 7.809609704095832e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1695, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.00952306271234582, "held_worst_rejected_m": null, "base_box_body": [[-0.5096238742291611, -0.5390790319641298, 0.035362788838530175], [0.5148407540189032, 0.4803817771949976, 0.41094048981798875]]} +{"step": 1714, "event": "joint_tracking", "max_error_rad": 0.003062129020690918} +{"step": 1714, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.110673904418945, 6.090120792388916, 0.5714950561523438], "desired_xyz": [4.11068719015854, 6.090093445793504, 0.5715486738321068], "error_m": 6.163767306112728e-05} +{"step": 1714, "event": "eef_target", "arm": "left", "body_xyz": [0.6567510882396123, 0.11999890060111432, 0.5663707716281262], "world_xyz": [4.088369986211321, 6.057166564487985, 0.5715481241400363], "held": {"left": null, "right": "trash_can_116"}} +{"step": 1714, "event": "torso_collision_guard", "start_overlap_m": 8.852537277520556e-05, "allowed_overlap_m": 0.027274278772818877, "soft_overlap_target_m": 8.852537277520556e-05, "rejected_solutions": 0, "accepted": true} +{"step": 1714, "event": "self_collision_guard", "rejected_self_collision": 0, "rejected_held_clearance": 0, "worst_rejected_pair": null, "default_limit_m": 0.01, "accepted": true, "held_start_penetration_m": 0.010183665688727972, "held_worst_rejected_m": null, "base_box_body": [[-0.5096240239820127, -0.5390791449691772, 0.03536256114553896], [0.5148410987496288, 0.4803823827072577, 0.4109408390088154]]} +{"step": 1733, "event": "joint_tracking", "max_error_rad": 0.0025811195373535156} +{"step": 1733, "event": "eef_tracking", "arm": "left", "actual_xyz": [4.088408946990967, 6.057270050048828, 0.5714701414108276], "desired_xyz": [4.088369986211321, 6.057166564487985, 0.5715481241400363], "error_m": 0.0001353089417167532} +{"step": 1733, "event": "primitive_verified", "operation": "deposit:can_of_soda_113", "start": 1132, "end": 1733} +{"step": 1733, "event": "stage", "name": "verify_goal", "task": {"inside": {"can__of__soda.n.01_2": true, "can__of__soda.n.01_3": true, "can__of__soda.n.01_1": true}, "success": true, "goal_status": {"satisfied": [0], "unsatisfied": []}, "held": {"left": null, "right": "trash_can_116"}, "eef_world": {"left": [[4.088408946990967, 6.057270050048828, 0.5714701414108276], [0.9587211608886719, -0.2842450737953186, 0.004416900221258402, -0.006246307399123907]], "right": [[4.245624542236328, 6.1977458000183105, 0.42051181197166443], [0.9355555176734924, -0.2612167298793793, -0.20958299934864044, -0.11214643716812134]]}, "bin_name": "ashcan.n.01_1", "object_positions": {"can__of__soda.n.01_2": [4.158718109130859, 6.110763072967529, 0.19994422793388367], "can__of__soda.n.01_3": [4.113108158111572, 6.13156795501709, 0.2941177785396576], "can__of__soda.n.01_1": [4.2087578773498535, 6.1316633224487305, 0.30109134316444397], "ashcan.n.01_1": [4.159637451171875, 6.116055488586426, 0.29543155431747437]}, "robot_pose": [[4.699421405792236, 5.78798246383667, 0.005285143852233887], [7.927045226097107e-05, -1.705726026557386e-05, -0.9559761881828308, -0.2934446930885315]]}} diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/export.log b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/export.log new file mode 100644 index 0000000000000000000000000000000000000000..7f1639e53667bc0602c6c6703b43d481889b1a6f --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/export.log @@ -0,0 +1,4 @@ +/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/1618 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[1.947s] [ext: omni.physics.tensors-107.3.26] startup +[1.952s] [ext: omni.warp.core-1.8.2] startup +[2.076s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.079s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-09-21T03:36:17Z [2,075ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.098s] [ext: omni.physx.tensors-107.3.26] startup +[2.104s] [ext: isaacsim.core.utils-3.5.1] startup +[2.107s] [ext: omni.graph.image.core-0.6.1] startup +[2.108s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[2.193s] [ext: omni.graph.image.nodes-1.3.1] startup +[2.195s] [ext: omni.kit.stage_templates-2.0.0] startup +[2.196s] [ext: isaacsim.core.prims-0.6.1] startup +[2.212s] [ext: omni.syntheticdata-0.6.13] startup +[2.224s] [ext: isaacsim.core.api-4.8.0] startup +[2.244s] [ext: omni.videoencoding-0.1.2] startup +[2.247s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[2.249s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[2.251s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[2.252s] [ext: isaacsim.simulation_app-2.12.2] startup +[2.252s] [ext: omni.graph.ui_nodes-1.50.5] startup +[2.256s] [ext: omni.graph.nodes-1.170.10] startup +[2.264s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[2.267s] [ext: isaacsim.test.docstring-1.1.0] startup +[2.271s] [ext: omni.isaac.kit-2.0.6] startup +2026-09-21T03:36:17Z [2,250ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly. +[2.271s] [ext: isaacsim.robot_motion.lula-4.0.8] startup +[2.279s] [ext: omni.warp-1.8.2] startup +[2.283s] [ext: omni.kit.window.material_graph-1.9.1] startup +[2.292s] [ext: omni.graph.scriptnode-1.50.0] startup +[2.296s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup +[2.335s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[2.397s] [ext: omni.replicator.core-1.12.27] startup +2026-09-21T03:36:17Z [2,384ms] [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 +2026-09-21T03:36:17Z [2,444ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-09-21T03:36:17Z [2,444ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-09-21T03:36:17Z [2,445ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[2.468s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup +[2.471s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[2.474s] [ext: isaacsim.core.nodes-3.4.3] startup +[2.482s] [ext: omni.isaac.lula_test_widget-1.0.6] startup +2026-09-21T03:36:17Z [2,463ms] [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. +[2.486s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[2.493s] [ext: isaacsim.core.experimental.objects-0.4.0] startup +[2.514s] [ext: isaacsim.core.experimental.materials-0.4.0] startup +[2.543s] [ext: isaacsim.core.throttling-2.2.2] startup +[2.549s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup +[2.560s] [ext: omni.flowusd-107.1.8] startup +2026-09-21T03:36:17Z [2,544ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead. +[2.621s] [ext: isaacsim.cortex.framework-1.0.12] startup +[2.631s] [ext: omni.isaac.core_nodes-2.0.6] startup +2026-09-21T03:36:18Z [2,616ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly. +[2.638s] [ext: omni.isaac.cortex-1.0.5] startup +2026-09-21T03:36:18Z [2,619ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly. +[2.641s] [ext: omni.anim.curve.core-1.3.1] startup +[2.743s] [ext: omni.isaac.franka-1.0.7] startup +2026-09-21T03:36:18Z [2,731ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:36:18Z [2,734ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly. +2026-09-21T03:36:18Z [2,815ms] [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. +[2.836s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead. +[2.899s] [ext: omni.isaac.lula-4.0.6] startup +2026-09-21T03:36:18Z [2,879ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly. +[2.901s] [ext: omni.kit.selection-0.1.6] startup +[2.903s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[2.907s] [ext: omni.isaac.manipulators-3.0.7] startup +2026-09-21T03:36:18Z [2,886ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,886ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,887ms] [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. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +2026-09-21T03:36:18Z [2,890ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly. +[2.912s] [ext: isaacsim.gui.menu-2.4.4] startup +[2.927s] [ext: isaacsim.sensors.physics-0.4.3] startup +[2.934s] [ext: isaacsim.asset.browser-1.3.23] startup +[2.939s] [ext: omni.isaac.menu-1.0.6] startup +2026-09-21T03:36:18Z [2,921ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly. +[2.942s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[2.948s] [ext: omni.isaac.motion_generation-8.0.7] startup +2026-09-21T03:36:18Z [2,929ms] [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. +2026-09-21T03:36:18Z [2,932ms] [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. +2026-09-21T03:36:18Z [2,933ms] [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. +2026-09-21T03:36:18Z [2,933ms] [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. +2026-09-21T03:36:18Z [2,933ms] [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. +2026-09-21T03:36:18Z [2,935ms] [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. +2026-09-21T03:36:18Z [2,935ms] [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. +2026-09-21T03:36:18Z [2,936ms] [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. +2026-09-21T03:36:18Z [2,936ms] [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. +2026-09-21T03:36:18Z [2,937ms] [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. +2026-09-21T03:36:18Z [2,938ms] [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. +2026-09-21T03:36:18Z [2,938ms] [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. +2026-09-21T03:36:18Z [2,938ms] [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. +2026-09-21T03:36:18Z [2,938ms] [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. +2026-09-21T03:36:18Z [2,939ms] [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. +2026-09-21T03:36:18Z [2,939ms] [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. +[2.960s] [ext: omni.isaac.asset_browser-1.0.6] startup +2026-09-21T03:36:18Z [2,940ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.963s] [ext: omni.isaac.nucleus-1.0.6] startup +2026-09-21T03:36:18Z [2,944ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +2026-09-21T03:36:18Z [2,944ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly. +[2.966s] [ext: omni.isaac.quadruped-3.0.7] startup +2026-09-21T03:36:18Z [2,945ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly. +[2.968s] [ext: omni.isaac.assets_check-0.3.13] startup +2026-09-21T03:36:18Z [2,948ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly. +[2.970s] [ext: isaacsim.gui.content_browser-0.1.11] startup +[2.974s] [ext: omni.isaac.utils-2.0.6] startup +[2.976s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[2.988s] [ext: isaacsim.app.about-2.0.11] startup +[2.991s] [ext: omni.isaac.version-2.0.7] startup +2026-09-21T03:36:18Z [2,971ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly. +[2.992s] [ext: isaacsim.cortex.behaviors-2.0.14] startup +[2.993s] [ext: omni.isaac.wheeled_robots-3.0.7] startup +2026-09-21T03:36:18Z [2,973ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:36:18Z [2,974ms] [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. +2026-09-21T03:36:18Z [2,974ms] [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. +2026-09-21T03:36:18Z [2,974ms] [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. +2026-09-21T03:36:18Z [2,974ms] [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. +2026-09-21T03:36:18Z [2,975ms] [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. +2026-09-21T03:36:18Z [2,975ms] [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. +2026-09-21T03:36:18Z [2,975ms] [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. +2026-09-21T03:36:18Z [2,975ms] [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. +2026-09-21T03:36:18Z [2,975ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:36:18Z [2,975ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +2026-09-21T03:36:18Z [2,976ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly. +[2.998s] [ext: omni.isaac.window.about-2.0.7] startup +2026-09-21T03:36:18Z [2,985ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly. +2026-09-21T03:36:18Z [2,986ms] [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. +[3.007s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[3.012s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup +2026-09-21T03:36:18Z [2,991ms] [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. +[3.012s] [ext: omni.sensors.nv.common-3.0.0] startup +[3.021s] [ext: omni.kit.property.audio-1.0.16] startup +[3.022s] [ext: omni.kit.property.camera-1.0.10] startup +[3.024s] [ext: omni.sensors.net-1.0.0] startup +[3.026s] [ext: omni.sensors.nv.materials-2.0.0] startup +[3.029s] [ext: omni.kit.property.geometry-2.0.4] startup +[3.035s] [ext: omni.kit.property.light-1.0.12] startup +[3.079s] [ext: omni.kit.property.material-1.11.9] startup +[3.083s] [ext: omni.sensors.nv.ids-2.0.0] startup +[3.084s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[3.086s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[3.090s] [ext: omni.hydra.scene_api-0.1.2] startup +[3.096s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[3.099s] [ext: omni.sensors.nv.radar-3.0.0] startup +[3.102s] [ext: omni.kit.property.render-1.2.1] startup +[3.102s] [ext: omni.kit.property.transform-1.5.13] startup +[3.105s] [ext: isaacsim.gui.property-1.1.3] startup +[3.106s] [ext: isaacsim.sensors.physx-2.3.2] startup +[3.111s] [ext: isaacsim.sensors.camera-1.3.6] startup +[3.116s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[3.125s] [ext: isaacsim.core.cloner-1.4.10] startup +[3.130s] [ext: omni.kit.property.bundle-1.4.1] startup +[3.132s] [ext: omni.kit.property.isaac-1.0.6] startup +2026-09-21T03:36:18Z [3,112ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly. +2026-09-21T03:36:18Z [3,112ms] [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. +[3.133s] [ext: omni.isaac.range_sensor-4.0.6] startup +2026-09-21T03:36:18Z [3,113ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly. +2026-09-21T03:36:18Z [3,113ms] [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. +[3.134s] [ext: isaacsim.replicator.writers-1.0.17] startup +[3.150s] [ext: omni.isaac.sensor-13.0.7] startup +2026-09-21T03:36:18Z [3,131ms] [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. +2026-09-21T03:36:18Z [3,131ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly. +2026-09-21T03:36:18Z [3,131ms] [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. +2026-09-21T03:36:18Z [3,131ms] [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. +2026-09-21T03:36:18Z [3,131ms] [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. +2026-09-21T03:36:18Z [3,131ms] [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. +2026-09-21T03:36:18Z [3,132ms] [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. +2026-09-21T03:36:18Z [3,132ms] [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. +2026-09-21T03:36:18Z [3,134ms] [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. +2026-09-21T03:36:18Z [3,134ms] [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. +2026-09-21T03:36:18Z [3,135ms] [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. +[3.157s] [ext: omni.isaac.cloner-1.0.7] startup +2026-09-21T03:36:18Z [3,137ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly. +[3.159s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[3.168s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[3.170s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup +[3.171s] [ext: isaacsim.replicator.examples-1.3.6] startup +[3.173s] [ext: omni.ocio-0.1.1] startup +[3.177s] [ext: omni.rtx.window.settings-0.6.19] startup +[3.192s] [ext: omni.kit.window.console-1.1.4] startup +[3.203s] [ext: omni.kit.window.status_bar-0.1.9] startup +[3.207s] [ext: omni.replicator.isaac-2.0.8] startup +2026-09-21T03:36:18Z [3,186ms] [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. +[3.207s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[3.212s] [ext: omni.rtx.settings.core-0.6.5] startup +[3.215s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[3.229s] [ext: omni.isaac.surface_gripper-2.0.6] startup +2026-09-21T03:36:18Z [3,209ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly. +[3.230s] [ext: semantics.schema.editor-2.0.2] startup +[3.235s] [ext: omni.kit.ui.actions-1.0.5] startup +[3.237s] [ext: semantics.schema.property-2.0.1] startup +[3.238s] [ext: omni.isaac.universal_robots-1.0.6] startup +2026-09-21T03:36:18Z [3,218ms] [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. +2026-09-21T03:36:18Z [3,218ms] [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. +2026-09-21T03:36:18Z [3,219ms] [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. +[3.240s] [ext: omni.isaac.core-4.0.7] startup +2026-09-21T03:36:18Z [3,221ms] [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. +2026-09-21T03:36:18Z [3,221ms] [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. +2026-09-21T03:36:18Z [3,222ms] [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. +2026-09-21T03:36:18Z [3,222ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly. +[3.243s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup +[3.253s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[3.259s] [ext: omni.kit.menu.common-2.0.1] startup +[3.261s] [ext: isaacsim.exp.base-5.1.0] startup +[3.262s] [ext: omnigibson_5_1_0-3.9.2] startup +[3.263s] Simulation App Starting +2026-09-21T03:36:18Z [3,288ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-09-21T03:36:18Z [3,314ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[3.373s] app ready +[5.245s] Simulation App Startup Complete +[5.556s] [ext: omni.physx.fabric-107.3.26] startup +2026-09-21T03:36:21Z [5,653ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors + +2026-09-21T03:36:21Z [6,565ms] [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. + + ____________ + / / \ + / / /__ + / / / /\ + /__________/ /__/ \ + \ _____ \ \__\ / + \ \ / \ \ \_/ / + \ \/___\ \ / + \__________\_/ + ___ _ ____ _ _ + / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ + | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ + | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | + \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| + +[00:00:11.000] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ---------- +[00:00:11.073] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check. +2026-09-21T03:37:11Z [55,706ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:37:13Z [57,966ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [57,966ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [57,967ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [57,967ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [57,967ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [57,967ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,080ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,110ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,141ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,142ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,142ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,142ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,142ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,142ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,173ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,173ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,174ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,174ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,202ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,202ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,234ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,235ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:13Z [58,241ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,840ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,840ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,840ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,867ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,884ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,884ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,888ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,888ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,893ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,898ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,898ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,904ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,904ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,909ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [58,909ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,046ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,047ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,047ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,047ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead. +2026-09-21T03:37:14Z [59,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead. +2026-09-21T03:37:15Z [60,230ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost +[00:01:04.951] [INFO] [omnigibson.simulator] Imported scene 0. +[00:01:04.989] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot +2026-09-21T03:37:23Z [67,964ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300. +[00:01:13.197] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time. +[00:01:13.200] [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. +2026-09-21T03:37:24Z [68,799ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:37:24Z [68,801ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:37:24Z [68,802ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:37:24Z [68,803ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:37:26Z [71,547ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +2026-09-21T03:37:45Z [90,489ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +RECOVERY progress 120 navigate_to_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 240 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +RECOVERY progress 360 grasp_bin {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': None} +2026-09-21T03:39:31Z [196,124ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint +RECOVERY progress 480 human_carry_pose_for_pick {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 600 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 720 navigate_to_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 840 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +RECOVERY progress 960 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +2026-09-21T03:42:07Z [351,911ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint +RECOVERY progress 1080 grasp_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1200 coordinate_bin_under_can {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1320 orient_bin_for_gravity {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1440 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1560 meet_hands_for_drop {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False, 'can__of__soda.n.01_1': True} {'left': 'can_of_soda_113', 'right': 'trash_can_116'} +RECOVERY progress 1680 retract_hand_after_release {'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_1': True} {'left': None, 'right': 'trash_can_116'} +GEOMETRY_QA False 0 +2026-09-21T03:43:27Z [431,692ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:43:27Z [431,692ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +2026-09-21T03:43:27Z [431,692ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released. +[431.803s] Simulation App Shutting Down diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/supervision_mask.npy b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/supervision_mask.npy new file mode 100644 index 0000000000000000000000000000000000000000..24ab19a7ca3bda8b9ec760b77ad1406aa137e2d5 --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/supervision_mask.npy @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25d3fb2ca53be5407075ecf5d580b790adb76ad2e2565502735a0f5a2d942083 +size 1746 diff --git a/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/torso_geometry_audit.json b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/torso_geometry_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b67a16df006048c1fa989221b5cde00da2194d --- /dev/null +++ b/task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00017390-f006148/attempt_001/torso_geometry_audit.json @@ -0,0 +1,15 @@ +{ + "run": 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