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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a99ff38fbb4c433998a58877b2aed2b008d94d
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
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+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
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+INFO:src.evaluation.robolab_bench.episode_stats:Episode c4d1f7d058574ba2be2ef05189d47d68-0 (codex/gpt-6-astra) ended: wall=837.961s harness=687.901s tokens=2332473 usage_complete=False decisions=27 executed_steps=214 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2165695b91d54abda978b62f00c83ff5-1 (codex/gpt-6-astra) ended: wall=636.415s harness=535.831s tokens=1540646 usage_complete=False decisions=19 executed_steps=145 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode bfe1fcc2a33e464c8c2df4b6fcf2e6e4-2 (codex/gpt-6-astra) ended: wall=433.838s harness=347.955s tokens=1417474 usage_complete=True decisions=16 executed_steps=124 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 25f85aa183834b24ae503e6c8120371c-0 (codex/gpt-6-astra) ended: wall=1005.436s harness=918.319s tokens=3569104 usage_complete=False decisions=41 executed_steps=323 steps_complete=True network_wait=5.672495521605015 rate_limit_wait=0 rate_limit_count=0 excluded=5.672495521605015 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c1aefb374a794d8bac626ecfeb7e77d0-1 (codex/gpt-6-astra) ended: wall=932.175s harness=844.200s tokens=3537322 usage_complete=False decisions=41 executed_steps=324 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a388cb552faf4c8995afcd6893a455c6-2 (codex/gpt-6-astra) ended: wall=997.592s harness=911.181s tokens=2988791 usage_complete=False decisions=41 executed_steps=321 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ac2fcadae7f84203b46d5e7e7406f38a-0 (codex/gpt-6-astra) ended: wall=1732.309s harness=1596.098s tokens=4880114 usage_complete=False decisions=52 executed_steps=412 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9576db038d694217bd9971ef4b80d2bf-1 (codex/gpt-6-astra) ended: wall=515.957s harness=471.645s tokens=1532820 usage_complete=True decisions=17 executed_steps=133 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 855fc03f453a4a32a870b14dfcea1f62-2 (codex/gpt-6-astra) execution_error: wall=3759.902s harness=3611.010s tokens=4879600 usage_complete=False decisions=59 executed_steps=472 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T144723.981215Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T17:54:51Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:55:21Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8101
+INFO:websockets.server:server listening on 127.0.0.1:8101
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 45386) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cef10d24bf134dca81ae2ec014dbae38-2 (codex/gpt-6-astra) execution_error: wall=4444.812s harness=4161.990s tokens=7318717 usage_complete=False decisions=103 executed_steps=824 steps_complete=False network_wait=2.441376693546772 rate_limit_wait=0 rate_limit_count=0 excluded=2.441376693546772 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T175524.087396Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T19:10:59Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T19:11:59Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8101
+INFO:websockets.server:server listening on 127.0.0.1:8101
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 39290) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 63bd33a35ecd4b7cb66ab165756b9d9f-2 (codex/gpt-6-astra) execution_error: wall=3462.167s harness=3310.404s tokens=5362150 usage_complete=False decisions=57 executed_steps=456 steps_complete=False network_wait=208.07763527333736 rate_limit_wait=0 rate_limit_count=0 excluded=208.07763527333736 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T191201.933851Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T20:14:39Z] GPU 5: ReorientRedMugTask/2: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T20:16:39Z] GPU 5: Starting worker at ReorientRedMugTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8101
+INFO:websockets.server:server listening on 127.0.0.1:8101
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47946) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d8de6943ff994ff48638e130601f4d20-2 (codex/gpt-6-astra) ended: wall=434.217s harness=391.298s tokens=1389186 usage_complete=False decisions=16 executed_steps=122 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ef77b2d20d5a4b0799542db0312599bc-0 (codex/gpt-6-astra) ended: wall=610.255s harness=556.545s tokens=2216445 usage_complete=True decisions=26 executed_steps=205 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6eabc2a9a21b460b8db085569225f613-1 (codex/gpt-6-astra) ended: wall=1009.968s harness=926.811s tokens=3610488 usage_complete=False decisions=43 executed_steps=337 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode abd4af2413834cd2997fda6f271f2a22-2 (codex/gpt-6-astra) ended: wall=870.544s harness=793.037s tokens=3367556 usage_complete=False decisions=39 executed_steps=309 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 650c806af996492688e9a7b36a9e90b3-0 (codex/gpt-6-astra) ended: wall=215.899s harness=196.732s tokens=929341 usage_complete=True decisions=9 executed_steps=68 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6efefab741224b628b713d650aa05fd9-1 (codex/gpt-6-astra) ended: wall=200.593s harness=182.935s tokens=826665 usage_complete=True decisions=8 executed_steps=62 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode eb6b23bf393046088b6f16fd19088ae0-2 (codex/gpt-6-astra) ended: wall=673.088s harness=606.764s tokens=2648041 usage_complete=False decisions=31 executed_steps=247 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_5/harness/20261103T201641.818035Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47946) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/client.log b/harness_robolab_exploration/embo_image640_v2/gpu_6/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..6d513d88c54c1664261809a781692ec3006f96c5
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/client.log
@@ -0,0 +1,4191 @@
+[2026-11-03T14:47:21Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_144726.log
+2026-11-03T14:47:26Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:26Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:26Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:26Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:26Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:26Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:26Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:26Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:26Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:26Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:26Z [78ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:26Z [83ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:26Z [86ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:26Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:26Z [93ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:26Z [96ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:26Z [104ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:31Z [4,559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:31Z [4,559ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:31Z [4,667ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:34Z [8,329ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:34Z [8,330ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:34Z [8,331ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 916191
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:39Z [12,663ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:39Z [12,664ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 899.25  11.43   5.14   1.83   3.30   2.88  12.60  11.72 
+     1   3.57 900.58   8.25   7.13   2.39   2.46  15.82  16.32 
+     2   6.47  13.95 920.86   5.73  11.00  11.35   2.36   5.68 
+     3  11.25  11.41  12.88 913.21  10.57   3.57   1.92   2.24 
+     4   8.36  13.41  15.03  14.99 881.06  12.15  13.32  14.53 
+     5  17.20  17.82  18.27  17.86  13.70 854.76   8.91  11.30 
+     6  16.80  16.72  17.86  17.45  16.45  16.32 895.93  16.72 
+     7  15.36  15.59  18.75  18.87  16.82  18.21  17.37 920.56 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  15.86  15.56  14.60  15.02  14.63  16.30  45.49 
+     1  14.09   1.45  13.73  13.47  15.53  15.37  16.84  52.88 
+     2  14.15  14.26   1.47  12.74  15.26  13.45  12.19  24.56 
+     3  39.01  13.91  13.87   1.55  15.25  11.18  11.73  25.03 
+     4  50.36  14.91  14.87  15.24   1.41  11.43  11.48  24.35 
+     5  24.97  15.45  15.18  14.43  14.18   1.48  12.51  24.21 
+     6  16.36  52.31  14.45  16.49  15.78  11.74   1.45  23.64 
+     7  86.01  18.13  78.80  50.87  57.39  47.70  51.16   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.38   6.82   6.80   6.81   7.62   7.49   7.60   7.53 
+     1   6.85   2.24   6.70   6.72   7.70   7.47   7.65   7.53 
+     2   6.72   6.65   2.23   6.68   7.75   7.51   7.66   7.49 
+     3   6.67   6.71   6.84   2.26   7.61   7.50   7.53   8.15 
+     4   7.35   7.16   7.27   7.19   2.50   7.93   8.06   8.02 
+     5   7.18   6.93   7.10   7.13   8.12   2.46   8.04   8.03 
+     6   7.26   7.18   7.12   7.10   7.93   7.87   2.47   9.06 
+     7   7.22   6.84   7.26   7.04   9.96   7.97   7.93   2.48 
+2026-11-03T14:47:45Z [19,366ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.8 GB/s.
+2026-11-03T14:47:45Z [19,366ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 86.0 us.
+2026-11-03T14:47:45Z [19,366ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [22,121ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,122ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,271ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [22,284ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [22,284ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,511ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,521ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,522ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [22,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [22,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,831ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [26,534ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [39,943ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [41,530ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [57,883ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [57,886ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [58,572ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [64,208ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,209ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,209ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [64,268ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T14:48:30Z [64,326ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,327ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T14:48:46Z [79,660ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55814d869890>)
+
+2026-11-03T14:48:46Z [79,661ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55814d869890>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T14:48:54Z [87,689ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.443076 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:49:00Z [94,408ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [94,409ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:01Z [94,442ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:01Z [94,442ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:01Z [94,450ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:01Z [94,456ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:01Z [94,707ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:01Z [94,729ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:02Z [95,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((15))' not available in the MDL representation.
+2026-11-03T14:49:02Z [95,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((15))' not available in the MDL representation.
+2026-11-03T14:49:02Z [95,744ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((19))' not available in the MDL representation.
+2026-11-03T14:49:02Z [95,744ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((19))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,789ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:05Z [98,789ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,084ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,085ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,091ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,091ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,100ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,100ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,107ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,115ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,115ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,216ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,216ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,231ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,231ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,332ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,332ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:06Z [100,332ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:07Z [100,525ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:07Z [100,525ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,347ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:08Z [101,726ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((15))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,726ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((15))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,727ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((19))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,727ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((19))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,732ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,732ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,732ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,733ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,734ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,734ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,734ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,735ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,735ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,735ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,736ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,736ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,737ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,737ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,738ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,738ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,739ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,739ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,740ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,740ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,743ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,743ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,744ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,747ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+2026-11-03T14:49:08Z [101,747ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((249))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 11.748040 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
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  5%|▍         | 29/600 [02:13<15:43,  1.65s/it]2026-11-03T14:51:24Z [237,504ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 284, duration: 18.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.911232186340211, 'joint_sparc_mean': -6.229553630318671, 'ee_isj': 6130.876966671085, 'joint_isj': 1056677.982494842, 'ee_path_length': 2.8910462656269917, 'joint_rmse_mean': 1.465231355472957, 'ee_speed_max': 1.0869477987289429, 'ee_speed_mean': 0.15082772076129913}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 4, 'TARGET_OBJECT_DROPPED': 4, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 2, 'wrong_objects_grabbed': ['glasses', 'glasses']}, instruction_type: default, timing: {'policy_inference_s': 985.634, 'policy_inference_avg_ms': 3470.5, 'env_step_s': 156.238, 'env_step_avg_ms': 550.1, 'video_write_s': 2.783, 'video_write_avg_ms': 9.8, 'wall_total_s': 1144.655, 'it_per_sec': 0.25}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: dfcd6e30599f44979615fe7a57965a86-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
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+2026-11-03T16:15:40Z [5,293,677ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T16:15:44Z] GPU 6: MarkerInMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:16:14Z] GPU 6: Starting worker at MarkerInMugTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_161618.log
+2026-11-03T16:16:18Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T16:16:18Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T16:16:18Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T16:16:18Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T16:16:18Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T16:16:18Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T16:16:18Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T16:16:18Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T16:16:18Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T16:16:18Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T16:16:18Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T16:16:18Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T16:16:18Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T16:16:18Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T16:16:18Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T16:16:18Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T16:16:18Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T16:16:22Z [3,681ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:22Z [3,681ms] [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)
+2026-11-03T16:16:22Z [3,766ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T16:16:23Z [4,538ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:23Z [4,538ms] [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)
+2026-11-03T16:16:23Z [4,539ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 858905
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T16:16:25Z [6,320ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T16:16:25Z [6,321ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.78  16.83  17.07  15.82  17.84  17.46  17.84  18.00 
+     1  18.54 917.50  17.60  18.58  19.13  18.23  19.38  18.72 
+     2  17.72  17.62 918.04  17.08  18.35  18.00  18.14  18.13 
+     3  17.47  18.83  18.50 920.73  18.72  19.24  18.96  18.91 
+     4  22.31  21.97  21.80  22.21 920.22  22.30  22.29  21.83 
+     5  21.58  22.36  20.64  22.04  22.19 920.20  22.39  22.37 
+     6  20.72  22.21  21.79  22.42  22.65  22.19 921.83  22.18 
+     7  20.49  22.39  21.21  22.18  22.38  22.28  22.26 921.23 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  14.17  11.62  11.63  12.43  12.60  12.27  12.22 
+     1  13.23   1.40  11.78  13.89  13.39  15.40  13.46  14.95 
+     2  11.91  11.51   1.39  12.91  12.78  14.41  12.03  15.78 
+     3  18.21  11.77  11.41   1.40  12.52  13.56  12.76  12.76 
+     4  13.93  15.60  14.51  13.87   1.42  10.33  13.59  10.52 
+     5  12.91  12.10  14.56  13.63  12.86   1.48  10.64  10.59 
+     6  14.43  13.25  12.00  15.55  11.06  10.80   1.49  13.85 
+     7  15.07  12.13  13.39  14.61  11.78  12.67  12.67   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.02  10.10   9.63  11.17   7.92   7.77   7.94   7.72 
+     1   9.85   2.81   9.59   9.67   7.86   7.90   7.94   7.72 
+     2   9.74  20.96   3.01   9.58   8.02   7.82   8.04   7.94 
+     3  10.14   9.96   9.58   2.81   8.06   7.87   7.84   7.76 
+     4   8.77   8.53   9.03   8.55   2.28   7.01   6.94   6.78 
+     5   8.62   8.25   8.47   8.20   6.61   2.24   6.85   6.65 
+     6   8.65   8.43   8.37   8.40   6.75   6.71   2.24   6.67 
+     7   8.32   8.30   8.32   8.29   6.82   6.74   6.76   2.20 
+2026-11-03T16:16:27Z [9,013ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.8 GB/s.
+2026-11-03T16:16:27Z [9,014ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.2 us.
+2026-11-03T16:16:27Z [9,014ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T16:16:31Z [12,385ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,386ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:31Z [12,472ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,472ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:31Z [12,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,481ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:31Z [12,695ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,696ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:31Z [12,700ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,700ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:31Z [12,705ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:16:31Z [12,706ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:16:32Z [13,594ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T16:16:36Z [17,382ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T16:16:46Z [27,832ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T16:16:47Z [28,987ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T16:17:00Z [41,563ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T16:17:00Z [41,564ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T16:17:01Z [42,067ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T16:17:04Z [45,426ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:17:04Z [45,428ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:17:04Z [45,431ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:17:04Z [45,467ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T16:17:04Z [45,480ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:17:04Z [45,480ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T16:17:18Z [59,952ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5563ab1c0f50>)
+
+2026-11-03T16:17:18Z [59,954ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5563ab1c0f50>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T16:17:26Z [67,519ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.353894 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:17:32Z [73,341ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:17:32Z [73,342ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:17:32Z [73,411ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:17:32Z [73,411ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:17:32Z [73,419ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:17:32Z [73,427ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:17:32Z [73,676ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:17:32Z [73,698ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:17:34Z [75,562ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((21))' not available in the MDL representation.
+2026-11-03T16:17:34Z [75,562ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((21))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,645ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,645ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,664ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,664ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,902ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,903ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,919ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,919ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,937ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,937ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,945ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,945ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,962ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,962ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,969ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T16:17:36Z [77,969ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,005ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,005ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,040ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,040ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T16:17:36Z [78,057ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,117ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T16:17:39Z [80,430ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((21))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,430ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((21))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,433ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,434ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,434ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,434ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,435ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,436ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,437ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,437ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,438ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,438ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,441ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,442ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T16:17:39Z [80,442ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 10.688359 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `MarkerInMugTask` run `0` already done. Skipping.
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/MarkerInMugTask/log_1_env0.json.
+MarkerInMugTask_1 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 322, duration: 21.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.790280129355483, 'joint_sparc_mean': -9.195932024046718, 'ee_isj': 1688.0142286276332, 'joint_isj': 127018.36764404713, 'ee_path_length': 2.7443930282790236, 'joint_rmse_mean': 1.1985789846601889, 'ee_speed_max': 0.5431485176086426, 'ee_speed_mean': 0.12207996845245361}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1165.149, 'policy_inference_avg_ms': 3618.5, 'env_step_s': 169.862, 'env_step_avg_ms': 527.5, 'video_write_s': 2.377, 'video_write_avg_ms': 7.4, 'wall_total_s': 1337.388, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 47fd999630f14632b00950519a155df8-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/MarkerInMugTask/log_2_env0.json.
+MarkerInMugTask_2 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 337, duration: 22.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.727447140227049, 'joint_sparc_mean': -11.019035289880634, 'ee_isj': 1583.0513126892274, 'joint_isj': 85167.80124111396, 'ee_path_length': 2.924407867664923, 'joint_rmse_mean': 1.2779671780271673, 'ee_speed_max': 0.457999587059021, 'ee_speed_mean': 0.11967100203037262}, events: {'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 1152.791, 'policy_inference_avg_ms': 3420.7, 'env_step_s': 176.629, 'env_step_avg_ms': 524.1, 'video_write_s': 2.388, 'video_write_avg_ms': 7.1, 'wall_total_s': 1331.808, 'it_per_sec': 0.25}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2fed0e2a234d466f9a5efd2451daa652-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:03:14Z [2,815,844ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.222278 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:03:19Z [2,820,526ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:03:19Z [2,820,526ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:03:19Z [2,820,536ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:03:19Z [2,820,536ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:03:19Z [2,820,544ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:03:19Z [2,820,550ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:03:19Z [2,820,568ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T17:03:20Z [2,821,106ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,106ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,106ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,136ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,137ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,173ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,173ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,197ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,198ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,204ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,204ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,232ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,232ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,287ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,287ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,312ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((431))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,313ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((431))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,368ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,368ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,480ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((519))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,821,480ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((519))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,010ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,011ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,011ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,012ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,013ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,013ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,013ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,014ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,014ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,014ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,015ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((399))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,015ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,015ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,016ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,016ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,017ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,017ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,018ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((431))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,018ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((431))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,020ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,020ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((464))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((519))' not available in the MDL representation.
+2026-11-03T17:03:20Z [2,822,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((519))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.089519 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_0_env0.json.
+SpoonInMugTask_0 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 266, duration: 17.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.6223492011745435, 'joint_sparc_mean': -8.92733020055476, 'ee_isj': 1619.791127448835, 'joint_isj': 41997.088589602536, 'ee_path_length': 2.652404201342957, 'joint_rmse_mean': 0.8337965833032955, 'ee_speed_max': 0.5051108002662659, 'ee_speed_mean': 0.14214885234832764}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['granola_bars', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 877.736, 'policy_inference_avg_ms': 3299.8, 'env_step_s': 134.128, 'env_step_avg_ms': 504.2, 'video_write_s': 2.484, 'video_write_avg_ms': 9.3, 'wall_total_s': 1014.348, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 823def6c6c8149438745078b3a662258-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 132, duration: 8.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.5554139250970636, 'joint_sparc_mean': -5.8334819263224125, 'ee_isj': 606.7717128985915, 'joint_isj': 91888.98523091237, 'ee_path_length': 1.1977741285993884, 'joint_rmse_mean': 0.7883482401859172, 'ee_speed_max': 0.5216101408004761, 'ee_speed_mean': 0.12186653167009354}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 389.303, 'policy_inference_avg_ms': 2949.3, 'env_step_s': 65.043, 'env_step_avg_ms': 492.8, 'video_write_s': 1.496, 'video_write_avg_ms': 11.3, 'wall_total_s': 455.843, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 971a2d8d378245b2974202c46a8217b0-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
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+2026-11-03T18:29:13Z [7,974,199ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:29:17Z] GPU 6: SpoonInMugTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:29:47Z] GPU 6: Starting worker at SpoonInMugTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_182951.log
+2026-11-03T18:29:51Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
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+2026-11-03T18:29:51Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T18:29:51Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T18:29:51Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T18:29:51Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T18:29:51Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T18:29:51Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T18:29:51Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T18:29:51Z [58ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T18:29:51Z [61ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T18:29:51Z [64ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T18:29:51Z [68ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T18:29:55Z [3,774ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:29:55Z [3,775ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:29:55Z [3,855ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:29:56Z [4,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:29:56Z [4,512ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:29:56Z [4,513ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 864661
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:29:58Z [6,754ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:29:58Z [6,754ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.15  21.54  21.82  21.85  19.90  22.16  20.86  22.38 
+     1  22.16 919.66  21.78  22.42  20.11  22.48  21.71  22.18 
+     2  21.96  22.03 919.08  22.16  20.14  22.18  20.84  22.34 
+     3  22.05  21.81  21.90 916.93  21.22  22.47  21.88  22.07 
+     4  18.86  17.02  18.84  18.48 921.71  17.74  17.13  16.61 
+     5  19.77  18.96  19.71  19.32  18.92 921.17  18.26  19.00 
+     6  18.73  17.99  18.68  17.47  17.54  17.48 922.87  17.74 
+     7  18.78  19.70  19.38  19.63  17.54  18.22  18.92 920.74 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  16.14  17.22  12.43  15.24  14.39  15.63  16.01 
+     1  18.17   1.41  11.51  16.83  12.53  15.55  15.09  15.48 
+     2  13.38  16.22   1.39  14.87  16.38  14.20  12.33  12.28 
+     3  16.30  20.50  17.26   1.40  16.71  15.14  13.97  17.07 
+     4  12.14  11.52  12.14  11.46   1.41  11.96  12.16  12.26 
+     5  11.67  11.59  12.25  12.48  12.34   1.48  12.11  12.01 
+     6  11.84  11.54  12.33  11.51  14.77  12.58   1.49  12.55 
+     7  11.46  12.55  11.61  22.47  12.20  11.98  11.86   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.97  12.61  12.46  11.95  10.85  10.26  10.06   9.94 
+     1  12.89   3.72  12.06  11.76  10.11   9.98  10.11   9.98 
+     2  12.70  12.00   3.99  12.03  10.47  10.44  10.24  10.17 
+     3  11.84  11.84  11.82   3.67  10.34  10.12  10.10   9.89 
+     4  11.03  11.19  11.03  10.96   3.08   9.10   8.98   9.07 
+     5  11.21  10.72  10.78  10.88   9.19   2.97   8.99   8.92 
+     6  10.88  10.78  11.36  10.89   9.15   9.30   3.08   9.16 
+     7  10.99  10.74  10.93  13.06   9.06   8.75   8.77   3.02 
+2026-11-03T18:30:00Z [9,445ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.6 GB/s.
+2026-11-03T18:30:00Z [9,445ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 22.5 us.
+2026-11-03T18:30:00Z [9,445ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:30:04Z [12,675ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,676ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:04Z [12,798ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,798ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:04Z [12,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,807ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:04Z [12,980ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,980ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:04Z [12,984ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,984ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:04Z [12,990ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:30:04Z [12,990ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:30:05Z [13,878ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:30:08Z [17,184ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:30:18Z [26,909ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:30:19Z [28,153ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T18:30:32Z [41,019ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T18:30:32Z [41,021ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T18:30:33Z [41,531ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T18:30:36Z [44,496ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:30:36Z [44,497ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:30:36Z [44,500ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:30:36Z [44,527ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T18:30:36Z [44,557ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:30:36Z [44,557ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T18:30:51Z [60,348ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563f012d3bd0>)
+
+2026-11-03T18:30:51Z [60,349ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563f012d3bd0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 5 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T18:30:59Z [68,202ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.458172 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:31:06Z [75,078ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:31:06Z [75,079ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:31:06Z [75,152ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:31:06Z [75,152ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:31:06Z [75,160ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:31:06Z [75,168ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:31:06Z [75,422ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:31:06Z [75,459ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:31:09Z [78,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:09Z [78,262ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:09Z [78,262ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:10Z [79,425ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:31:10Z [79,425ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:31:10Z [79,454ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-03T18:31:10Z [79,455ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,638ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,638ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,652ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,866ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,866ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,878ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,927ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,928ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,940ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((181))' not available in the MDL representation.
+2026-11-03T18:31:11Z [79,940ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((181))' not available in the MDL representation.
+2026-11-03T18:31:11Z [80,012ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((191))' not available in the MDL representation.
+2026-11-03T18:31:11Z [80,012ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((191))' not available in the MDL representation.
+2026-11-03T18:31:12Z [81,124ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((265))' not available in the MDL representation.
+2026-11-03T18:31:12Z [81,124ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((265))' not available in the MDL representation.
+2026-11-03T18:31:13Z [81,760ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T18:31:13Z [82,049ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,050ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,050ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,051ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,051ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,052ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,052ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,055ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,055ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,056ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,057ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,059ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,059ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,060ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((181))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,060ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((181))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,061ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((191))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,061ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((191))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,065ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((265))' not available in the MDL representation.
+2026-11-03T18:31:13Z [82,065ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((265))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 11.512373 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `SpoonInMugTask` run `0` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` run `1` already done. Skipping.
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_2_env0.json.
+SpoonInMugTask_2 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 100, duration: 6.666666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.237746902804825, 'joint_sparc_mean': -5.779614648776916, 'ee_isj': 622.3256852366783, 'joint_isj': 31038.468174303853, 'ee_path_length': 1.1804431918131528, 'joint_rmse_mean': 0.7084720055075838, 'ee_speed_max': 0.4993654489517212, 'ee_speed_mean': 0.16597139835357666}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 2, 'wrong_objects_grabbed': ['wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 309.986, 'policy_inference_avg_ms': 3099.9, 'env_step_s': 50.248, 'env_step_avg_ms': 502.5, 'video_write_s': 1.48, 'video_write_avg_ms': 14.8, 'wall_total_s': 361.714, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5a44ad8925044efebc2b7e03e5218291-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T18:37:43Z [471,522ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.212990 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:37:47Z [475,497ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:37:47Z [475,497ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:37:47Z [475,506ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:37:47Z [475,506ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:37:47Z [475,515ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:37:47Z [475,523ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:37:47Z [475,543ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T18:37:48Z [477,115ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-11-03T18:37:48Z [477,116ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((325))' not available in the MDL representation.
+2026-11-03T18:37:48Z [477,414ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-11-03T18:37:48Z [477,414ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-11-03T18:37:49Z [477,664ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T18:37:49Z [477,664ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,397ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,397ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,418ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,418ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,437ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,467ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,467ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,474ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-03T18:37:50Z [479,475ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-03T18:37:51Z [479,631ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((479))' not available in the MDL representation.
+2026-11-03T18:37:51Z [479,632ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((479))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,231ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,232ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((357))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,232ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,233ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((365))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,235ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,235ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,236ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-03T18:37:51Z [480,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.609985 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 267, duration: 17.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.470045735997795, 'joint_sparc_mean': -10.759388521395296, 'ee_isj': 1003.0033447155549, 'joint_isj': 20634.281635969324, 'ee_path_length': 1.9135544218457838, 'joint_rmse_mean': 0.9070224812235439, 'ee_speed_max': 0.42514145374298096, 'ee_speed_mean': 0.10562804341316223}, events: {'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 652.586, 'policy_inference_avg_ms': 2444.1, 'env_step_s': 70.818, 'env_step_avg_ms': 265.2, 'video_write_s': 2.353, 'video_write_avg_ms': 8.8, 'wall_total_s': 725.756, 'it_per_sec': 0.37}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a60f78659ac74136a9d54c840d4ff48d-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 245, duration: 16.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.5296511745720895, 'joint_sparc_mean': -10.639283182254497, 'ee_isj': 796.9241352496471, 'joint_isj': 19692.931896228372, 'ee_path_length': 1.6443228861724206, 'joint_rmse_mean': 0.8998564484240125, 'ee_speed_max': 0.3599107563495636, 'ee_speed_mean': 0.09702048450708389}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 639.417, 'policy_inference_avg_ms': 2609.9, 'env_step_s': 64.086, 'env_step_avg_ms': 261.6, 'video_write_s': 2.939, 'video_write_avg_ms': 12.0, 'wall_total_s': 706.442, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d6a228fc88d94bc8a133e16d6823e371-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 225, duration: 15.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.095621455966523, 'joint_sparc_mean': -8.970302271709032, 'ee_isj': 977.6171127133673, 'joint_isj': 16967.98202415793, 'ee_path_length': 1.724078614106988, 'joint_rmse_mean': 0.8766536067555447, 'ee_speed_max': 0.5214337110519409, 'ee_speed_mean': 0.11159715801477432}, events: {'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 644.414, 'policy_inference_avg_ms': 2864.1, 'env_step_s': 59.496, 'env_step_avg_ms': 264.4, 'video_write_s': 2.171, 'video_write_avg_ms': 9.6, 'wall_total_s': 706.08, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c157443bd1f9436982005cba25188d77-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:15:06Z [2,714,861ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.191887 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:15:08Z [2,716,871ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T19:15:08Z [2,716,971ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:15:08Z [2,716,971ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:15:08Z [2,716,980ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:15:08Z [2,716,980ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:15:08Z [2,716,989ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:15:08Z [2,716,996ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:15:08Z [2,717,430ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((624))' not available in the MDL representation.
+2026-11-03T19:15:08Z [2,717,430ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((624))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,550ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((679))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,550ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((679))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,654ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((731))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,717,655ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((731))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,200ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((624))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,200ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((624))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,202ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,202ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((666))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,203ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((679))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,204ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((679))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((731))' not available in the MDL representation.
+2026-11-03T19:15:09Z [2,718,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((731))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.263802 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+2026-11-03T20:17:08Z [6,436,798ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T20:17:12Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:17:42Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_201746.log
+2026-11-03T20:17:46Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T20:17:46Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
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+2026-11-03T20:17:46Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
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+2026-11-03T20:17:46Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T20:17:46Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T20:17:46Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T20:17:46Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T20:17:46Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T20:17:46Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T20:17:46Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T20:17:46Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T20:17:46Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T20:17:46Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T20:17:46Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T20:17:49Z [3,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:49Z [3,402ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:49Z [3,493ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T20:17:50Z [4,258ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:50Z [4,259ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:50Z [4,260ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 865558
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T20:17:52Z [6,499ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T20:17:52Z [6,499ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.32  21.67  21.62  22.01  20.18  22.22  21.60  22.06 
+     1  21.90 915.75  21.99  21.89  22.14  22.22  21.72  22.49 
+     2  22.32  21.79 919.86  22.28  20.49  22.39  21.95  22.47 
+     3  22.21  21.70  22.09 918.04  20.40  22.51  20.54  22.42 
+     4  19.31  17.83  19.35  18.24 922.97  17.83  17.17  16.47 
+     5  20.12  19.12  20.10  19.28  18.78 918.58  18.97  18.65 
+     6  19.22  18.54  19.05  17.99  17.49  17.58 921.29  17.64 
+     7  19.48  19.69  19.69  18.74  17.50  18.70  19.04 919.66 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  10.68  15.73  11.33  12.52  13.58  15.14  15.23 
+     1  10.53   1.56  10.37  10.70  15.40  16.21  13.41  14.25 
+     2  13.49  16.16   1.39  11.10  15.60  15.36  13.48  13.54 
+     3  14.03  12.91  12.55   1.37  14.36  14.82  14.76  15.68 
+     4  12.49  11.30  12.15  12.91   1.38  11.56  11.47  11.59 
+     5  13.69  12.55  13.83  12.13  13.80   1.38  11.58  11.64 
+     6  16.53  12.69  14.10  11.35  11.95  11.83   1.37  11.58 
+     7  12.23  11.93  12.70  13.55  12.30  11.59  11.89   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.48   7.02   6.89   7.08   8.44   8.29   8.61   8.86 
+     1   7.09   2.22   6.85   6.61   8.29   8.25   8.38   8.43 
+     2   7.26   6.77   2.28   6.77   8.53   8.42   8.35   8.44 
+     3   6.75   6.62   6.74   2.21   8.40   8.30   8.30   8.57 
+     4   8.02   8.28   7.98   7.90   3.02   9.47   9.45   9.37 
+     5   8.16   7.62   7.78   7.73   9.44   2.73   9.37   9.34 
+     6   7.92   7.92   7.97   7.75   9.50   9.37   2.77   9.53 
+     7   7.76   7.89   7.99   7.90   9.60   9.42   9.50   2.78 
+2026-11-03T20:17:55Z [9,147ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.5 GB/s.
+2026-11-03T20:17:55Z [9,147ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 16.5 us.
+2026-11-03T20:17:55Z [9,147ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T20:17:59Z [12,747ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [12,748ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:59Z [12,850ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [12,850ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:59Z [12,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [12,861ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:59Z [13,043ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [13,043ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:59Z [13,048ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [13,048ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:17:59Z [13,054ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:17:59Z [13,055ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:18:00Z [13,981ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T20:18:03Z [17,402ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T20:18:13Z [27,343ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T20:18:14Z [28,549ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T20:18:27Z [40,825ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T20:18:27Z [40,827ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T20:18:27Z [41,293ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T20:18:31Z [44,691ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:18:31Z [44,692ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:18:31Z [44,694ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:18:31Z [44,714ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T20:18:31Z [44,726ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:18:31Z [44,726ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T20:18:45Z [59,416ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563d960a9fa0>)
+
+2026-11-03T20:18:45Z [59,417ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563d960a9fa0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T20:18:53Z [66,904ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.393463 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:18:58Z [71,703ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:18:58Z [71,703ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:18:58Z [71,773ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:18:58Z [71,773ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:18:58Z [71,781ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:18:58Z [71,788ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:18:58Z [71,941ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:18:58Z [71,977ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:19:03Z [77,493ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:19:03Z [77,494ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:19:05Z [78,879ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T20:19:05Z [78,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T20:19:07Z [81,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T20:19:07Z [81,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T20:19:08Z [81,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((250))' not available in the MDL representation.
+2026-11-03T20:19:08Z [81,671ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((250))' not available in the MDL representation.
+2026-11-03T20:19:08Z [82,319ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T20:19:09Z [82,615ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,615ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,618ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,618ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,620ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,620ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((250))' not available in the MDL representation.
+2026-11-03T20:19:09Z [82,625ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((250))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.405865 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+
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+2026-11-03T21:16:52Z [3,546,121ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T21:16:56Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T21:17:56Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_211801.log
+2026-11-03T21:18:01Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T21:18:01Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T21:18:01Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T21:18:01Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T21:18:01Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T21:18:01Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T21:18:01Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T21:18:01Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T21:18:01Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T21:18:01Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T21:18:01Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T21:18:01Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T21:18:01Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T21:18:01Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T21:18:01Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T21:18:01Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T21:18:01Z [63ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T21:18:05Z [3,756ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:05Z [3,757ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:05Z [3,851ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T21:18:06Z [4,580ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:06Z [4,581ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:06Z [4,582ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 869531
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T21:18:08Z [6,607ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T21:18:08Z [6,607ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 916.36  16.43  17.58  16.28  18.10  17.91  18.22  18.25 
+     1  19.87 919.12  18.58  18.06  19.51  19.10  19.41  18.01 
+     2  19.27  18.32 919.12  17.32  18.72  18.59  18.52  18.72 
+     3  16.98  19.30  18.90 921.29  18.77  19.49  19.38  19.08 
+     4  22.26  20.57  22.11  22.45 922.97  22.23  22.18  21.93 
+     5  20.01  22.37  20.78  22.40  22.37 919.66  22.15  22.31 
+     6  19.92  22.57  20.79  22.51  22.40  22.22 922.56  22.08 
+     7  20.05  22.51  20.49  22.31  22.39  22.52  22.09 917.50 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.88  12.31  12.30  11.55  11.61  11.68  11.85 
+     1  12.13   1.55  12.12  11.48  11.79  17.98  12.24  14.13 
+     2  12.40  11.60   1.44  11.71  11.39  11.60  11.54  11.49 
+     3  11.70  11.89  12.29   1.32  11.79  11.60  11.56  11.49 
+     4  15.31  18.99  15.25  11.75   1.43  15.00  14.13  12.09 
+     5  11.88  12.78  12.86  11.47  14.02   1.38  11.55  11.46 
+     6  12.19  15.11  16.20  15.07  16.95  13.70   1.38  11.96 
+     7  13.21  14.71  15.80  19.56  17.88  12.62  14.76   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.33   9.24   9.78   8.97  10.75  10.67  10.65  10.40 
+     1   9.57   3.42   9.06   8.93  10.66  11.11  10.73  12.36 
+     2   9.30   9.11   3.12   9.25  10.82  10.66  10.57  10.58 
+     3   9.25   8.86   9.12   3.05  10.71  10.72  10.48  10.76 
+     4  10.24   9.99  10.24  10.07   5.25  14.47  15.27  14.54 
+     5  13.10  12.19  12.67  12.63  14.92   5.48  14.81  14.46 
+     6  12.98  12.99  11.41  11.40  13.34  13.14   3.98  12.86 
+     7  11.24  11.01  11.05  11.14  12.72  11.58  11.61   3.53 
+2026-11-03T21:18:11Z [9,319ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.3 GB/s.
+2026-11-03T21:18:11Z [9,320ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.6 us.
+2026-11-03T21:18:11Z [9,320ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T21:18:14Z [12,773ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [12,774ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:14Z [12,863ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [12,864ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:14Z [12,884ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [12,884ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:14Z [13,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [13,068ms] [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)
+2026-11-03T21:18:14Z [13,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [13,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:14Z [13,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:14Z [13,080ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:15Z [14,027ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T21:18:19Z [17,473ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T21:18:29Z [27,524ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T21:18:30Z [28,730ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T21:18:44Z [42,502ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T21:18:44Z [42,981ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T21:18:47Z [46,029ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:18:47Z [46,030ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:18:47Z [46,030ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:18:47Z [46,065ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T21:18:47Z [46,080ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:18:47Z [46,081ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T21:19:02Z [60,916ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55dfdfbadef0>)
+
+2026-11-03T21:19:02Z [60,918ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55dfdfbadef0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:19:10Z [68,478ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.457279 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:19:15Z [73,975ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:19:15Z [73,976ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:15Z [74,050ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:19:15Z [74,051ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:15Z [74,059ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:15Z [74,066ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:19:15Z [74,230ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:19:15Z [74,250ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:19:21Z [80,163ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,164ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,180ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,180ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,201ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,205ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T21:19:21Z [80,205ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T21:19:26Z [84,787ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T21:19:26Z [85,101ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,101ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,102ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,102ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,104ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T21:19:26Z [85,104ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.257177 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+
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+2026-11-03T22:13:28Z [3,327,084ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T22:13:32Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T22:15:32Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_221537.log
+2026-11-03T22:15:37Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T22:15:37Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T22:15:37Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T22:15:37Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T22:15:37Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T22:15:37Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T22:15:37Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T22:15:37Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T22:15:37Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T22:15:37Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T22:15:37Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T22:15:37Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T22:15:37Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T22:15:37Z [55ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T22:15:37Z [58ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T22:15:37Z [61ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T22:15:37Z [65ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T22:15:42Z [4,854ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:42Z [4,855ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:42Z [4,921ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T22:15:43Z [5,628ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:43Z [5,628ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:43Z [5,630ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 885363
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T22:15:44Z [7,500ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T22:15:44Z [7,501ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 908.50  17.02  17.98  16.68  19.08  18.52  19.23  19.55 
+     1  19.57 919.12  19.25  18.41  19.66  19.62  20.08  21.03 
+     2  19.39  18.65 919.00  18.41  18.51  19.35  19.35  19.47 
+     3  17.71  19.81  18.63 917.40  19.62  18.83  19.73  21.00 
+     4  21.84  22.44  20.52  22.40 919.79  22.37  21.96  22.03 
+     5  20.10  22.44  20.73  22.50  22.33 920.90  21.98  21.72 
+     6  19.99  22.49  20.87  22.59  22.32  22.13 923.46  22.02 
+     7  19.46  22.43  20.69  22.28  22.17  22.12  22.04 923.82 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.99  14.00  12.76  12.53  11.92  11.96  12.40 
+     1  11.62   1.44  12.07  12.00  11.46  12.59  12.39  13.14 
+     2  11.55  11.70   1.43  11.86  11.59  11.64  11.45  13.09 
+     3  12.63  12.53  12.45   1.32  12.91  12.36  12.36  12.52 
+     4  13.27  17.86  13.18  14.31   1.43  11.44  11.33  11.35 
+     5  13.13  14.26  14.27  14.39  11.36   1.36  16.34  20.53 
+     6  14.32  15.65  15.31  16.32  20.23  20.53   1.39  20.54 
+     7  14.66  12.09  15.96  13.63  14.59  11.31  13.15   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.29   9.59   9.12   9.40  10.91  10.59  10.56  10.44 
+     1   9.35   3.23   9.08   9.00  10.81  10.53  10.55  10.51 
+     2   9.23   9.10   3.23   9.14  10.84  10.62  10.72  10.50 
+     3   9.10   8.92   9.03   3.10  10.85  10.67  10.56  10.46 
+     4  10.15  10.09  10.17  10.15   3.52  12.00  11.67  11.51 
+     5  10.13   9.94  10.10  10.24  11.81   3.49  11.71  12.89 
+     6  10.89  10.69  10.74  10.68  12.79  12.23   3.63  12.45 
+     7  10.52  10.54  10.70  10.66  12.56  12.31  12.24   3.67 
+2026-11-03T22:15:47Z [10,150ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-03T22:15:47Z [10,151ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-03T22:15:47Z [10,151ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T22:15:51Z [13,592ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,593ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:51Z [13,684ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,684ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:51Z [13,694ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,694ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:51Z [13,894ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,894ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:51Z [13,899ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,899ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:51Z [13,905ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:15:51Z [13,905ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:15:52Z [14,862ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T22:15:55Z [18,124ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T22:16:06Z [28,700ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T22:16:07Z [29,931ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T22:16:20Z [43,120ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T22:16:21Z [43,631ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T22:16:24Z [46,679ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:16:24Z [46,680ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:16:24Z [46,683ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:16:24Z [46,703ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T22:16:24Z [46,717ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:16:24Z [46,717ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T22:16:39Z [61,692ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563352b108d0>)
+
+2026-11-03T22:16:39Z [61,693ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563352b108d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T22:16:46Z [69,136ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.422419 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T22:16:51Z [74,271ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:16:51Z [74,272ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:16:51Z [74,346ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:16:51Z [74,347ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:16:51Z [74,356ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:16:51Z [74,365ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T22:16:52Z [74,536ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:16:52Z [74,560ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:16:58Z [80,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T22:16:58Z [80,857ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T22:16:58Z [81,523ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T22:16:58Z [81,523ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T22:16:59Z [81,526ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T22:16:59Z [81,526ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T22:17:00Z [83,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T22:17:00Z [83,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,637ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T22:17:02Z [84,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,959ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T22:17:02Z [84,959ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.492605 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.2264867376949375, 'joint_sparc_mean': -5.0287654285302645, 'ee_isj': 12028.079610400082, 'joint_isj': 722810.1173220376, 'ee_path_length': 4.101761098392626, 'joint_rmse_mean': 1.0954311607438536, 'ee_speed_max': 1.1622779369354248, 'ee_speed_mean': 0.07000602781772614}, events: {'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 6}, instruction_type: default, timing: {'policy_inference_s': 642.46, 'policy_inference_avg_ms': 713.8, 'env_step_s': 199.888, 'env_step_avg_ms': 222.1, 'video_write_s': 6.746, 'video_write_avg_ms': 7.5, 'wall_total_s': 849.095, 'it_per_sec': 1.06}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 1af6c12562d745e987bf77043ebe5f31-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+2026-11-03T23:29:14Z [4,417,034ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T23:29:18Z] GPU 6: FoodPacking1BoxesTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T23:29:48Z] GPU 6: Starting worker at FoodPacking1BoxesTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_232952.log
+2026-11-03T23:29:52Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T23:29:52Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T23:29:53Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T23:29:53Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T23:29:53Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T23:29:53Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T23:29:53Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T23:29:53Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T23:29:53Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T23:29:53Z [78ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T23:29:53Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T23:29:53Z [114ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T23:29:53Z [117ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T23:29:53Z [136ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T23:29:53Z [148ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T23:29:53Z [150ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T23:29:53Z [153ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T23:29:57Z [4,737ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:29:57Z [4,737ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:29:57Z [4,815ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T23:29:58Z [5,485ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:29:58Z [5,486ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:29:58Z [5,488ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 900655
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T23:30:00Z [7,355ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T23:30:00Z [7,361ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 911.00  17.26  18.46  16.98  18.51  19.04  18.89  19.09 
+     1  20.48 920.74  18.56  19.43  19.73  19.06  19.81  19.56 
+     2  19.46  19.46 918.58  18.14  19.29  19.15  18.81  19.36 
+     3  17.80  19.56  19.44 925.10  18.86  19.80  19.62  19.28 
+     4  22.28  22.03  22.38  22.58 922.90  22.57  22.45  22.48 
+     5  19.92  22.34  20.65  22.59  22.34 924.42  22.38  22.23 
+     6  21.87  22.45  20.74  22.36  22.25  22.09 922.92  22.08 
+     7  19.71  22.55  20.81  22.34  22.27  22.36  22.52 923.04 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  13.26  12.15  11.79  13.38  11.35  11.52  12.63 
+     1  12.81   1.44  12.24  20.34  12.91  15.63  13.83  14.09 
+     2  16.34  12.10   1.43  11.56  12.02  14.90  12.19  15.49 
+     3  11.53  12.75  20.55   1.32  12.18  13.28  11.64  15.49 
+     4  14.43  14.09  13.77  14.04   1.43  10.57  10.95  10.65 
+     5  14.21  14.14  13.83  14.35  10.75   1.36  10.46  10.36 
+     6  14.30  14.56  13.69  13.68  10.94  10.48   1.38  10.50 
+     7  14.34  14.40  13.32  11.44  10.29  10.58  10.77   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.99  10.47  12.15  10.08   8.39   8.01   8.15   8.09 
+     1  10.01   2.82   9.98  11.55   8.30   8.13   8.29   8.19 
+     2  10.26  11.73   2.78   9.59   7.94   7.87   7.92   7.84 
+     3   9.66   9.46   9.35   2.78   7.92   7.76   7.84   7.82 
+     4   8.55   8.44   8.46   8.48   2.30   6.74   6.93   6.66 
+     5   8.37   8.30   8.33   8.31   6.84   2.23   6.74   6.72 
+     6   8.55   8.37   8.39   8.41   6.79   6.62   2.25   6.58 
+     7   8.47   8.05   8.20   8.15   6.79   6.46   6.62   2.21 
+2026-11-03T23:30:02Z [9,977ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.0 GB/s.
+2026-11-03T23:30:02Z [9,977ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T23:30:02Z [9,977ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T23:30:06Z [13,420ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,421ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:30:06Z [13,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,506ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:30:06Z [13,518ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,518ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:30:06Z [13,695ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,695ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:30:06Z [13,701ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,701ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:30:06Z [13,708ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:30:06Z [13,708ms] [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)
+2026-11-03T23:30:07Z [14,658ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T23:30:10Z [17,898ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T23:30:20Z [27,538ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T23:30:21Z [28,777ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T23:30:35Z [42,315ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T23:30:35Z [42,816ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T23:30:38Z [45,795ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:30:38Z [45,796ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:30:38Z [45,799ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:30:38Z [45,822ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T23:30:38Z [45,835ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:30:38Z [45,835ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T23:30:53Z [60,060ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563185704f20>)
+
+2026-11-03T23:30:53Z [60,062ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x563185704f20>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 10 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T23:31:00Z [67,432ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.429678 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T23:31:05Z [72,284ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T23:31:05Z [72,286ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:31:05Z [72,361ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T23:31:05Z [72,361ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:31:05Z [72,369ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:31:05Z [72,376ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T23:31:05Z [72,528ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:31:05Z [72,552ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:31:09Z [76,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T23:31:09Z [76,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T23:31:12Z [79,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T23:31:12Z [79,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T23:31:13Z [80,701ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T23:31:13Z [80,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T23:31:13Z [80,746ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T23:31:13Z [80,746ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T23:31:14Z [81,806ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T23:31:15Z [82,080ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,081ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,085ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,085ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,086ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,086ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,088ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T23:31:15Z [82,088ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.313264 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `FoodPacking1BoxesTask` run `0` already done. Skipping.
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 110, duration: 7.333333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.334808534590803, 'joint_sparc_mean': -5.68517429267267, 'ee_isj': 1146.2715698256172, 'joint_isj': 19677.280256479135, 'ee_path_length': 1.4949865305338443, 'joint_rmse_mean': 0.9235989133491405, 'ee_speed_max': 0.7788602709770203, 'ee_speed_mean': 0.19723238050937653}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 6}, instruction_type: default, timing: {'policy_inference_s': 257.707, 'policy_inference_avg_ms': 2342.8, 'env_step_s': 24.571, 'env_step_avg_ms': 223.4, 'video_write_s': 1.437, 'video_write_avg_ms': 13.1, 'wall_total_s': 283.716, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 448a885a5ed445a295e2f9bc7bd3e352-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+2026-11-04T00:32:36Z [3,763,071ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-04T00:32:39Z] GPU 6: FoodPacking1BoxesTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T00:33:09Z] GPU 6: Starting worker at FoodPacking1BoxesTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261104_003314.log
+2026-11-04T00:33:14Z [11ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-04T00:33:14Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T00:33:14Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T00:33:14Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T00:33:14Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T00:33:14Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T00:33:14Z [31ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-04T00:33:14Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-04T00:33:14Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-04T00:33:14Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-04T00:33:14Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-04T00:33:14Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T00:33:14Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T00:33:14Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T00:33:14Z [62ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T00:33:14Z [65ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T00:33:14Z [68ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T00:33:19Z [5,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:19Z [5,442ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:19Z [5,530ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T00:33:20Z [6,131ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:20Z [6,133ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:20Z [6,134ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 899878
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T00:33:22Z [8,021ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T00:33:22Z [8,022ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.65  17.33  18.23  16.70  18.33  19.08  18.77  19.26 
+     1  20.26 920.20  18.45  19.38  19.42  19.76  19.62  19.17 
+     2  19.04  19.62 917.52  17.70  19.14  19.09  19.18  19.42 
+     3  17.58  19.74  19.34 924.01  19.01  19.76  19.80  19.27 
+     4  22.35  21.98  22.48  22.27 924.61  22.16  22.47  22.21 
+     5  19.48  22.55  20.74  22.26  22.62 923.46  22.34  22.24 
+     6  19.93  22.14  20.57  22.36  22.23  22.15 911.08  22.42 
+     7  20.10  22.42  20.76  22.27  22.48  22.12  22.06 923.46 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  12.47  14.80  11.72  14.42  11.49  13.47  13.25 
+     1  11.66   1.44  11.68  11.59  12.18  11.59  11.64  12.02 
+     2  11.78  13.15   1.43  11.55  16.39  11.60  11.88  11.61 
+     3  12.12  11.46  11.68   1.32  13.41  12.82  12.44  13.00 
+     4  14.55  13.58  15.26  12.66   1.43  14.77  11.34  14.68 
+     5  14.50  12.35  14.59  14.05  13.20   1.37  14.52  13.75 
+     6  19.28  12.48  14.15  14.98  13.04  14.11   1.38  12.57 
+     7  11.62  14.90  15.46  15.12  15.48  14.84  12.74   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.38   9.51   9.34   9.41  11.06  10.74  10.58  10.70 
+     1   9.50   3.14   9.06   9.04  10.75  10.56  10.45  10.53 
+     2   9.28   8.93   3.18   9.15  10.80  11.16  11.25  11.20 
+     3   9.50   9.27   9.66   3.02  11.50  11.15  11.20  11.19 
+     4  10.84  10.53  10.81  10.72   3.65  12.24  12.37  12.34 
+     5  10.71  10.49  11.01  10.48  12.35   3.57  12.16  12.24 
+     6  10.72  10.38  10.58  10.46  12.23  12.00   3.66  12.17 
+     7  10.55  10.20  10.72  10.42  12.24  11.89  12.11   3.63 
+2026-11-04T00:33:25Z [10,674ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-04T00:33:25Z [10,675ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.3 us.
+2026-11-04T00:33:25Z [10,675ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T00:33:28Z [14,307ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,307ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:28Z [14,408ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,409ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:28Z [14,419ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,419ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:28Z [14,602ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,603ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:28Z [14,608ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,608ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:28Z [14,614ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:33:28Z [14,614ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:33:29Z [15,542ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T00:33:33Z [18,890ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T00:33:43Z [29,128ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T00:33:44Z [30,417ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T00:33:58Z [44,325ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T00:33:59Z [44,850ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-04T00:34:02Z [47,882ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:34:02Z [47,883ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:34:02Z [47,886ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:34:02Z [47,905ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T00:34:02Z [47,919ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:34:02Z [47,919ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-04T00:34:16Z [62,364ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55dbb1863810>)
+
+2026-11-04T00:34:16Z [62,365ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55dbb1863810>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 11 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T00:34:23Z [69,584ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.462884 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T00:34:29Z [74,929ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T00:34:29Z [74,930ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:34:29Z [75,007ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T00:34:29Z [75,007ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:34:29Z [75,015ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:34:29Z [75,023ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T00:34:29Z [75,191ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:34:29Z [75,210ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:34:34Z [79,992ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-04T00:34:34Z [79,993ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-04T00:34:36Z [81,906ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-04T00:34:36Z [81,906ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-04T00:34:36Z [82,161ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-04T00:34:36Z [82,161ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-04T00:34:36Z [82,194ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-04T00:34:36Z [82,194ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,207ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T00:34:39Z [85,495ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,495ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,498ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,498ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-04T00:34:39Z [85,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.570972 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `FoodPacking1BoxesTask` run `0` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` run `1` already done. Skipping.
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.117859346760852, 'joint_sparc_mean': -10.435320728595928, 'ee_isj': 36581.18917470503, 'joint_isj': 599860.1936471353, 'ee_path_length': 7.351199780311887, 'joint_rmse_mean': 1.1247907095384726, 'ee_speed_max': 3.4318130016326904, 'ee_speed_mean': 0.11762730032205582}, events: {'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 1358.661, 'policy_inference_avg_ms': 1509.6, 'env_step_s': 200.603, 'env_step_avg_ms': 222.9, 'video_write_s': 7.799, 'video_write_avg_ms': 8.7, 'wall_total_s': 1567.063, 'it_per_sec': 0.57}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 5e3184d6c4ca4c9f877e9fda83abc43f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T01:01:22Z [1,688,580ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.225114 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T01:01:24Z [1,690,660ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T01:01:24Z [1,690,660ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:01:25Z [1,690,669ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T01:01:25Z [1,690,669ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:01:25Z [1,690,677ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:01:25Z [1,690,685ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T01:01:25Z [1,690,703ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-04T01:01:25Z [1,691,136ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-04T01:01:25Z [1,691,136ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-04T01:01:25Z [1,691,147ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((434))' not available in the MDL representation.
+2026-11-04T01:01:25Z [1,691,148ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((434))' not available in the MDL representation.
+2026-11-04T01:01:25Z [1,691,214ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((470))' not available in the MDL representation.
+2026-11-04T01:01:25Z [1,691,214ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((470))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,842ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,842ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,843ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((434))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,843ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((434))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((470))' not available in the MDL representation.
+2026-11-04T01:01:26Z [1,691,846ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((470))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.181736 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+2026-11-04T01:53:10Z [4,796,317ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-04T01:53:14Z] GPU 6: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T01:53:44Z] GPU 6: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261104_015349.log
+2026-11-04T01:53:49Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-04T01:53:49Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T01:53:49Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T01:53:49Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T01:53:49Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T01:53:49Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T01:53:49Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-04T01:53:49Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-04T01:53:49Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-04T01:53:49Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-04T01:53:49Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-04T01:53:49Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T01:53:49Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T01:53:49Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T01:53:49Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T01:53:49Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T01:53:49Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T01:53:53Z [4,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:53:53Z [4,455ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:53:53Z [4,544ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T01:53:54Z [5,553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:53:54Z [5,555ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:53:54Z [5,556ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 907298
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T01:53:56Z [7,608ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T01:53:56Z [7,609ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 908.25  17.14  19.42  17.39  19.27  19.70  18.92  19.16 
+     1  20.17 920.73  19.29  19.96  21.12  20.37  20.08  20.07 
+     2  19.41  18.59 919.20  19.40  19.50  19.99  19.34  18.80 
+     3  17.63  19.73  19.80 921.83  21.18  19.91  19.78  19.92 
+     4  22.03  22.50  20.85  22.33 920.98  22.48  22.33  22.09 
+     5  19.54  22.44  20.54  22.43  22.34 921.44  22.34  22.15 
+     6  19.49  22.49  21.18  22.48  22.35  22.29 920.20  22.23 
+     7  20.30  22.26  20.51  22.39  22.44  22.00  22.29 922.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.85  11.53  11.72  11.49  13.30  11.63  13.13 
+     1  12.23   1.55  11.60  11.84  11.82  12.92  11.44  13.24 
+     2  11.96  11.70   1.44  12.57  12.31  12.53  12.61  12.37 
+     3  12.14  11.71  11.66   1.32  11.86  12.61  12.61  12.78 
+     4  12.83  12.48  13.06  13.69   1.43  11.34  12.00  13.39 
+     5  12.32  14.22  12.14  12.39  11.35   1.36  13.17  11.35 
+     6  15.66  19.33  16.96  11.38  15.37  14.56   1.47  12.91 
+     7  12.03  13.74  12.95  12.85  12.29  12.59  13.46   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.16   9.16  10.51   9.11  10.64  10.45  10.38  10.27 
+     1  11.68   3.27   9.52   9.46  11.24  11.21  10.94  10.87 
+     2   9.61   9.38   3.10   9.43  11.32  11.09  11.02  10.91 
+     3   9.54   9.30   9.51   3.05  11.21  11.15  11.07  10.95 
+     4  10.57  10.50  10.65  10.64   3.75  12.28  12.28  12.18 
+     5  10.63  10.36  10.48  10.57  12.42   3.55  12.38  12.05 
+     6  10.57  10.43  10.58  10.59  12.40  12.24   3.67  12.23 
+     7  10.61  10.47  10.45  10.45  12.25  12.14  12.19   3.65 
+2026-11-04T01:53:59Z [10,223ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.1 GB/s.
+2026-11-04T01:53:59Z [10,223ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.3 us.
+2026-11-04T01:53:59Z [10,223ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T01:54:02Z [13,694ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:02Z [13,695ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:02Z [13,797ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:02Z [13,798ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:02Z [13,807ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:02Z [13,808ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:03Z [14,012ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:03Z [14,013ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:03Z [14,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:03Z [14,017ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:03Z [14,023ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T01:54:03Z [14,023ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T01:54:04Z [14,950ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T01:54:07Z [18,474ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T01:54:17Z [28,669ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T01:54:19Z [29,879ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T01:54:32Z [43,587ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T01:54:33Z [44,122ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-04T01:54:36Z [47,550ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T01:54:36Z [47,551ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T01:54:36Z [47,554ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T01:54:36Z [47,574ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T01:54:36Z [47,588ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T01:54:36Z [47,588ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-04T01:54:50Z [61,822ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d850679600>)
+
+2026-11-04T01:54:50Z [61,823ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d850679600>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 12 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T01:54:58Z [69,289ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.443732 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T01:55:03Z [73,977ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T01:55:03Z [73,977ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:55:03Z [74,053ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T01:55:03Z [74,053ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:55:03Z [74,061ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T01:55:03Z [74,067ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T01:55:03Z [74,220ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T01:55:03Z [74,241ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T01:55:08Z [79,009ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-04T01:55:08Z [79,009ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-04T01:55:08Z [79,716ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-04T01:55:08Z [79,716ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-04T01:55:09Z [80,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-04T01:55:09Z [80,697ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,315ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T01:55:10Z [81,599ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,600ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,603ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,603ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,606ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-04T01:55:10Z [81,606ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 11.963240 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json.
+RubiksCubeThenBananaTask_0 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 185, duration: 12.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.0942051413007166, 'joint_sparc_mean': -6.852454359734307, 'ee_isj': 926.5317820097338, 'joint_isj': 13084.379509693912, 'ee_path_length': 1.5382104563736752, 'joint_rmse_mean': 1.1090860523208008, 'ee_speed_max': 0.5349552035331726, 'ee_speed_mean': 0.11744774132966995}, events: {'TARGET_OBJECT_DROPPED': 4, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['rubiks_cube']}, instruction_type: default, timing: {'policy_inference_s': 525.987, 'policy_inference_avg_ms': 2843.2, 'env_step_s': 41.876, 'env_step_avg_ms': 226.4, 'video_write_s': 1.977, 'video_write_avg_ms': 10.7, 'wall_total_s': 569.84, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 848a8c66654340458aed2d465bf7b397-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json.
+RubiksCubeThenBananaTask_1 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 291, duration: 19.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.588215476858378, 'joint_sparc_mean': -7.660057044402626, 'ee_isj': 1504.9357657196815, 'joint_isj': 27950.488303181075, 'ee_path_length': 2.4830618383310727, 'joint_rmse_mean': 1.0751548001179851, 'ee_speed_max': 0.5219644904136658, 'ee_speed_mean': 0.12091301381587982}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 9}, instruction_type: default, timing: {'policy_inference_s': 728.887, 'policy_inference_avg_ms': 2504.8, 'env_step_s': 67.306, 'env_step_avg_ms': 231.3, 'video_write_s': 2.656, 'video_write_avg_ms': 9.1, 'wall_total_s': 798.849, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 6cf6654514144a3f983ef930bdada55a-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json.
+RubiksCubeThenBananaTask_2 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 388, duration: 25.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.6952987984588175, 'joint_sparc_mean': -9.849964073535933, 'ee_isj': 1448.264116401228, 'joint_isj': 31741.648556123055, 'ee_path_length': 2.79618179202053, 'joint_rmse_mean': 1.1257900117733344, 'ee_speed_max': 0.4742045998573303, 'ee_speed_mean': 0.10110349953174591}, events: {'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['banana']}, instruction_type: default, timing: {'policy_inference_s': 1087.521, 'policy_inference_avg_ms': 2802.9, 'env_step_s': 91.819, 'env_step_avg_ms': 236.6, 'video_write_s': 3.741, 'video_write_avg_ms': 9.6, 'wall_total_s': 1183.082, 'it_per_sec': 0.33}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: 3ac0fbb523a64e1196931bccaa7a76d0-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T02:39:19Z [2,730,596ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.181874 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T02:39:21Z [2,732,715ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T02:39:21Z [2,732,715ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T02:39:21Z [2,732,723ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T02:39:21Z [2,732,724ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T02:39:21Z [2,732,731ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T02:39:21Z [2,732,739ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T02:39:21Z [2,732,756ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-04T02:39:23Z [2,734,106ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-04T02:39:23Z [2,734,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-04T02:39:24Z [2,735,523ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((475))' not available in the MDL representation.
+2026-11-04T02:39:24Z [2,735,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((475))' not available in the MDL representation.
+2026-11-04T02:39:25Z [2,736,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-04T02:39:25Z [2,736,109ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-04T02:39:25Z [2,736,114ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((475))' not available in the MDL representation.
+2026-11-04T02:39:25Z [2,736,115ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((475))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.487793 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
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+2026-11-04T03:39:34Z [6,344,888ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-04T03:39:38Z] GPU 6: BananaInBowlTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T03:40:08Z] GPU 6: Starting worker at BananaInBowlTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261104_034012.log
+2026-11-04T03:40:12Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-04T03:40:12Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T03:40:12Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T03:40:12Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T03:40:12Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T03:40:12Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T03:40:12Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-04T03:40:12Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-04T03:40:12Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-04T03:40:12Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-04T03:40:12Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-04T03:40:12Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T03:40:12Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T03:40:12Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T03:40:12Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T03:40:12Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T03:40:12Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T03:40:17Z [4,830ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:17Z [4,831ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:17Z [4,913ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T03:40:18Z [5,917ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:18Z [5,918ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:18Z [5,919ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 907037
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T03:40:20Z [7,982ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T03:40:20Z [7,982ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 906.85  17.19  19.12  17.45  19.64  19.16  19.00  18.79 
+     1  19.99 919.66  18.72  20.44  20.95  20.23  19.78  19.53 
+     2  19.43  19.43 920.74  18.81  19.71  20.64  18.61  19.35 
+     3  17.68  19.11  19.48 922.42  20.88  21.08  19.25  19.77 
+     4  20.52  22.30  22.14  20.25 921.88  22.19  22.40  21.97 
+     5  19.24  22.15  21.75  22.42  22.07 922.99  22.09  21.98 
+     6  19.67  22.39  20.64  22.20  22.17  22.16 921.83  22.11 
+     7  19.32  22.31  20.94  21.67  22.23  22.08  22.24 922.37 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.33  11.43  11.51  11.52  11.44  11.52  11.45 
+     1  11.58   1.44  11.52  11.43  18.37  12.61  12.61  12.53 
+     2  14.96  11.72   1.43  11.81  11.53  11.53  12.26  12.66 
+     3  14.68  18.18  11.51   1.31  11.43  11.27  11.33  11.72 
+     4  11.98  13.07  11.34  14.51   1.43  13.12  13.30  13.04 
+     5  11.60  11.52  11.74  11.43  11.43   1.35  11.46  11.58 
+     6  11.35  12.90  12.71  12.75  12.59  12.19   1.46  12.81 
+     7  12.00  13.89  13.80  12.00  12.84  11.99  13.22   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.77   8.04   7.78   9.09   8.77   8.53   8.48   8.38 
+     1   8.04   2.70   7.84   7.69   8.82  11.17  11.01  10.84 
+     2   9.48  10.77   2.95   9.10  10.64  10.50  10.53  10.37 
+     3   9.39  18.33  14.52   4.63  16.27  15.37  15.68   8.94 
+     4   8.50   8.42   8.57   8.55   2.84   9.37   9.40   9.28 
+     5   8.56   8.37   8.51   8.41   9.39   2.80   9.36   9.22 
+     6   8.52   8.35   8.49   8.47   9.35   9.29   2.89   9.26 
+     7   8.47   8.36   8.36   8.47   9.48  13.62  13.71   5.79 
+2026-11-04T03:40:23Z [10,598ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-04T03:40:23Z [10,599ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.4 us.
+2026-11-04T03:40:23Z [10,599ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T03:40:26Z [14,228ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,228ms] [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)
+2026-11-04T03:40:26Z [14,320ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,320ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:26Z [14,331ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,331ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:26Z [14,511ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,511ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:26Z [14,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,516ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:26Z [14,522ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T03:40:26Z [14,522ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T03:40:27Z [15,520ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T03:40:31Z [19,378ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T03:40:42Z [29,557ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T03:40:43Z [30,762ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T03:40:57Z [44,699ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T03:40:57Z [45,222ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-04T03:41:00Z [48,304ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T03:41:00Z [48,305ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T03:41:00Z [48,307ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T03:41:00Z [48,327ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T03:41:00Z [48,341ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T03:41:00Z [48,342ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-04T03:41:15Z [63,305ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562fd6654410>)
+
+2026-11-04T03:41:15Z [63,306ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562fd6654410>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+Loaded 15 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` already done. Skipping.
+[RoboLab] Task `RubiksCubeThenBananaTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T03:41:23Z [70,689ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.458626 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T03:41:28Z [76,016ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T03:41:28Z [76,017ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T03:41:28Z [76,098ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T03:41:28Z [76,099ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T03:41:28Z [76,107ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T03:41:28Z [76,114ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T03:41:28Z [76,260ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T03:41:28Z [76,278ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T03:41:35Z [82,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T03:41:35Z [82,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T03:41:35Z [82,852ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-04T03:41:35Z [82,853ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-04T03:41:38Z [85,688ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T03:41:38Z [85,977ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T03:41:38Z [85,978ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T03:41:38Z [85,982ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-04T03:41:38Z [85,982ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.924042 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/BananaInBowlTask/log_0_env0.json.
+BananaInBowlTask_0 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_0, run: 0, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 145, duration: 9.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.379926910557396, 'joint_sparc_mean': -5.776340651857285, 'ee_isj': 539.8154520024127, 'joint_isj': 16592.520985232884, 'ee_path_length': 1.2000160274594212, 'joint_rmse_mean': 1.2393541223752897, 'ee_speed_max': 0.5287977457046509, 'ee_speed_mean': 0.11809565871953964}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 381.864, 'policy_inference_avg_ms': 2633.5, 'env_step_s': 28.526, 'env_step_avg_ms': 196.7, 'video_write_s': 1.773, 'video_write_avg_ms': 12.2, 'wall_total_s': 412.162, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3a734238714948618f99c499c7d75b63-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/BananaInBowlTask/log_1_env0.json.
+BananaInBowlTask_1 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_1, run: 1, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 129, duration: 8.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.236528714845928, 'joint_sparc_mean': -5.727515106063594, 'ee_isj': 669.1507387727793, 'joint_isj': 28286.978762018665, 'ee_path_length': 1.0880135597887552, 'joint_rmse_mean': 1.2081586130917823, 'ee_speed_max': 0.5097112655639648, 'ee_speed_mean': 0.12878255546092987}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 359.325, 'policy_inference_avg_ms': 2785.5, 'env_step_s': 25.197, 'env_step_avg_ms': 195.3, 'video_write_s': 1.458, 'video_write_avg_ms': 11.3, 'wall_total_s': 385.981, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1aa24895f3884342aa83804fe25606cf-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/robolab/BananaInBowlTask/log_2_env0.json.
+BananaInBowlTask_2 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_2, run: 2, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 121, duration: 8.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.5639016479507895, 'joint_sparc_mean': -4.973736873819678, 'ee_isj': 363.1927934788281, 'joint_isj': 9035.90133504544, 'ee_path_length': 0.9940910529419497, 'joint_rmse_mean': 1.1448319206926663, 'ee_speed_max': 0.39094656705856323, 'ee_speed_mean': 0.11868593841791153}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 350.805, 'policy_inference_avg_ms': 2899.2, 'env_step_s': 23.662, 'env_step_avg_ms': 195.6, 'video_write_s': 1.506, 'video_write_avg_ms': 12.4, 'wall_total_s': 375.974, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d1e46714ba2345e0bb402f235b11997d-2
+-------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name                Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (6 tasks)          16/18    88.9%   [66.9-96.6]    0.889        0.000       14.78   -6.18    2.33       12.4        0.37 13.2       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask         3/3      100.0%  [39.8-99.4]    1.000        -           8.78    -5.06    1.09       12.2        0.33 6.5        
+ClampInRightBinTask      3/3      100.0%  [39.8-99.4]    1.000        -           16.38   -7.37    1.76       10.5        0.35 11.9       
+FoodPacking1BoxesTask    1/3      33.3%   [6.8-80.6]     0.333        0.000       7.33    -4.89    4.32       12.8        0.67 15.0       
+MarkerInMugTask          3/3      100.0%  [39.8-99.4]    1.000        -           20.96   -7.14    2.85       13.1        0.25 21.2       
+RubiksCubeThenBananaTask 3/3      100.0%  [39.8-99.4]    1.000        -           19.20   -6.79    2.27       11.3        0.34 14.2       
+SpoonInMugTask           3/3      100.0%  [39.8-99.4]    1.000        -           11.07   -5.81    1.68       14.3        0.28 10.2       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
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place it in the bin on the right side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..607dbabbb22e2fe71b6c6a95c5519a61a682bfc9
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 267, "events": [{"step": 53, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 79, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 79, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 222, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 267, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..568064311efdf6986b4a58dea6242e6091a51b37
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 245, "events": [{"step": 55, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 66, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 66, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 69, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 91, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 105, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 108, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 108, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 198, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 222, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 245, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb1c463a29c424253e9474aa2b95e860c17754e
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/MarkerInMugTask/log_0_env0.json
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+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:6", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/RubiksCubeThenBananaTask/log_2_env0.json
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"ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spoon_big", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7f44778e3e20>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f44779e5ee0>, object='spoon_big', container='ceramic_mug', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "SpoonInMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the metal spoon that's in the wooden bowl in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "granola_bars", "grey_bin", "table"], "_instruction_variants": {"default": "Put the metal spoon that's in the wooden bowl in the mug", "vague": "Put the spoon in the mug", "specific": "Take the metal spoon in the wooden bowl and place it inside the ceramic mug with the handle sticking out"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..808a87c8b02b41b80cddfb40ecaf949b8c1eed9f
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 266, "events": [{"step": 54, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 121, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 126, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 180, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 223, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 224, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 265, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..89611df62a8b26a2445c12780eae272b80966c12
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 132, "events": [{"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 129, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 129, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 132, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba4f0d4c5b61b715a922d50a617babeb6a06a40c
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 100, "events": [{"step": 54, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 75, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 76, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 77, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 77, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4d0969224531add11555f5fc2175c47d4a530267
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e639b22acc6c88fbb1bf8fb10d5e5f9698846197b1e9a8d3c41f9ea4c36a80d
+size 584779
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e0dd6edfa51ffed1362a916b4c00b348533281e4
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/SpoonInMugTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..270a82828f1502670a2515adb40d6a43d957b668
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+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17bab799d81d45e319bd221417d237377a4cf9a7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_6/server.log b/harness_robolab_exploration/embo_image640_v2/gpu_6/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..d95520b442811eca62946ef8e0640b0a59ec0296
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_6/server.log
@@ -0,0 +1,510 @@
+[2026-11-03T14:47:21Z] GPU 6: Starting worker at MarkerInMugTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T144723.980066Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T144723.980066Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56876) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode dfcd6e30599f44979615fe7a57965a86-0 (codex/gpt-6-astra) ended: wall=1144.902s harness=976.385s tokens=3013505 usage_complete=False decisions=36 executed_steps=284 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T144723.980066Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4b8b877889224d0dae12312477bcc13a-1 (codex/gpt-6-astra) execution_error: wall=3989.549s harness=3700.110s tokens=5702280 usage_complete=False decisions=62 executed_steps=496 steps_complete=False network_wait=23.33591815084219 rate_limit_wait=0 rate_limit_count=0 excluded=23.33591815084219 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T144723.980066Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T16:15:44Z] GPU 6: MarkerInMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:16:14Z] GPU 6: Starting worker at MarkerInMugTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 43564) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 47fd999630f14632b00950519a155df8-1 (codex/gpt-6-astra) ended: wall=1337.600s harness=1155.557s tokens=3453905 usage_complete=False decisions=41 executed_steps=322 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2fed0e2a234d466f9a5efd2451daa652-2 (codex/gpt-6-astra) ended: wall=1332.042s harness=1142.592s tokens=3909224 usage_complete=False decisions=43 executed_steps=337 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 823def6c6c8149438745078b3a662258-0 (codex/gpt-6-astra) ended: wall=1014.535s harness=869.342s tokens=2919613 usage_complete=False decisions=34 executed_steps=266 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 971a2d8d378245b2974202c46a8217b0-1 (codex/gpt-6-astra) ended: wall=455.923s harness=385.198s tokens=1435853 usage_complete=True decisions=17 executed_steps=132 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ed1232b743dd43a398dbed7e3b051995-2 (codex/gpt-6-astra) execution_error: wall=3619.055s harness=3400.182s tokens=4969843 usage_complete=False decisions=53 executed_steps=424 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T161616.823980Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:29:17Z] GPU 6: SpoonInMugTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:29:47Z] GPU 6: Starting worker at SpoonInMugTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56552) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5a44ad8925044efebc2b7e03e5218291-2 (codex/gpt-6-astra) ended: wall=361.785s harness=306.613s tokens=1140646 usage_complete=True decisions=13 executed_steps=100 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a60f78659ac74136a9d54c840d4ff48d-0 (codex/gpt-6-astra) ended: wall=725.917s harness=644.376s tokens=2841525 usage_complete=False decisions=34 executed_steps=267 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d6a228fc88d94bc8a133e16d6823e371-1 (codex/gpt-6-astra) ended: wall=706.589s harness=631.692s tokens=2628453 usage_complete=False decisions=31 executed_steps=245 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c157443bd1f9436982005cba25188d77-2 (codex/gpt-6-astra) ended: wall=706.237s harness=637.282s tokens=2386271 usage_complete=False decisions=29 executed_steps=225 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b8f54e17397f47a4a798ca61782eb245-0 (codex/gpt-6-astra) execution_error: wall=3558.846s harness=3448.949s tokens=5014300 usage_complete=False decisions=53 executed_steps=424 steps_complete=False network_wait=157.9174866899848 rate_limit_wait=0 rate_limit_count=0 excluded=157.9174866899848 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T182949.464822Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T20:17:12Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:17:42Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T201744.315311Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T201744.315311Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 52914) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 08e9140d639b41df955ca1bd0c54df00-0 (codex/gpt-6-astra) execution_error: wall=3457.948s harness=3344.201s tokens=5112200 usage_complete=False decisions=53 executed_steps=424 steps_complete=False network_wait=3.286721870303154 rate_limit_wait=0 rate_limit_count=0 excluded=3.286721870303154 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T201744.315311Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T21:16:56Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T21:17:56Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T211759.106815Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T211759.106815Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56148) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6d87ebc8449b4872ac18d3c4b66baea1-0 (codex/gpt-6-astra) execution_error: wall=3239.614s harness=3125.882s tokens=5025152 usage_complete=False decisions=54 executed_steps=432 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T211759.106815Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T22:13:32Z] GPU 6: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T22:15:32Z] GPU 6: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T221535.280649Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T221535.280649Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 58558) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1af6c12562d745e987bf77043ebe5f31-0 (codex/gpt-6-astra) ended: wall=844.285s harness=610.239s tokens=2833687 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=8.606514602899551 rate_limit_wait=0 rate_limit_count=0 excluded=5.299731068313122 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T221535.280649Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 38cdd20f428644f5b8bc110752745e4e-1 (codex/gpt-6-astra) execution_error: wall=3447.304s harness=3307.683s tokens=6292533 usage_complete=False decisions=67 executed_steps=536 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T221535.280649Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T23:29:18Z] GPU 6: FoodPacking1BoxesTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T23:29:48Z] GPU 6: Starting worker at FoodPacking1BoxesTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T232950.804758Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T232950.804758Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 53296) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 448a885a5ed445a295e2f9bc7bd3e352-1 (codex/gpt-6-astra) ended: wall=283.809s harness=254.551s tokens=736118 usage_complete=True decisions=14 executed_steps=110 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T232950.804758Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b9722ae619b14822808061a637f992ed-2 (codex/gpt-6-astra) execution_error: wall=3359.251s harness=3199.646s tokens=5841993 usage_complete=False decisions=81 executed_steps=648 steps_complete=False network_wait=7.758462846279144 rate_limit_wait=0 rate_limit_count=0 excluded=7.758462846279144 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261103T232950.804758Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-04T00:32:39Z] GPU 6: FoodPacking1BoxesTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T00:33:09Z] GPU 6: Starting worker at FoodPacking1BoxesTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T003312.242058Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T003312.242058Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 58244) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5e3184d6c4ca4c9f877e9fda83abc43f-2 (codex/gpt-6-astra) ended: wall=1545.089s harness=1309.056s tokens=4898019 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=22.531470239162445 rate_limit_wait=0 rate_limit_count=0 excluded=22.531470239162445 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T003312.242058Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a46bc8fd42894490be16586b41981c0c-0 (codex/gpt-6-astra) execution_error: wall=3102.549s harness=2977.592s tokens=5293842 usage_complete=False decisions=57 executed_steps=456 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T003312.242058Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-04T01:53:14Z] GPU 6: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T01:53:44Z] GPU 6: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 56146) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 848a8c66654340458aed2d465bf7b397-0 (codex/gpt-6-astra) ended: wall=569.956s harness=520.441s tokens=2031321 usage_complete=False decisions=24 executed_steps=185 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6cf6654514144a3f983ef930bdada55a-1 (codex/gpt-6-astra) ended: wall=799.031s harness=720.268s tokens=3153054 usage_complete=False decisions=37 executed_steps=291 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3ac0fbb523a64e1196931bccaa7a76d0-2 (codex/gpt-6-astra) ended: wall=1183.316s harness=1075.825s tokens=4617339 usage_complete=False decisions=49 executed_steps=388 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3ca2797b9333417d856dff5ce55f7a24-0 (codex/gpt-6-astra) execution_error: wall=3606.743s harness=3481.505s tokens=5937633 usage_complete=False decisions=60 executed_steps=480 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T015347.109377Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-04T03:39:38Z] GPU 6: BananaInBowlTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T03:40:08Z] GPU 6: Starting worker at BananaInBowlTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T034010.402243Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T034010.402243Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8102
+INFO:websockets.server:server listening on 127.0.0.1:8102
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35498) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3a734238714948618f99c499c7d75b63-0 (codex/gpt-6-astra) ended: wall=412.248s harness=377.516s tokens=1593643 usage_complete=True decisions=19 executed_steps=145 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T034010.402243Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1aa24895f3884342aa83804fe25606cf-1 (codex/gpt-6-astra) ended: wall=386.065s harness=355.464s tokens=1436218 usage_complete=True decisions=17 executed_steps=129 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T034010.402243Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d1e46714ba2345e0bb402f235b11997d-2 (codex/gpt-6-astra) ended: wall=376.055s harness=347.160s tokens=1358371 usage_complete=True decisions=16 executed_steps=121 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_6/harness/20261104T034010.402243Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 35498) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/client.log b/harness_robolab_exploration/embo_image640_v2/gpu_7/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..d0f3a851f98fa03b220761b804d9314fc3f171ce
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/client.log
@@ -0,0 +1,2449 @@
+[2026-11-03T14:47:21Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_144726.log
+2026-11-03T14:47:26Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:26Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:26Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:26Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:26Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:26Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:26Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:26Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:26Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:26Z [70ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:26Z [80ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:26Z [82ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:26Z [85ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:26Z [87ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:26Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:26Z [92ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:26Z [96ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:31Z [5,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:31Z [5,098ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:31Z [5,207ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:35Z [8,691ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:35Z [8,692ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:35Z [8,693ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 916071
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:39Z [12,739ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:39Z [12,739ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 894.61   5.05   8.33   2.20   4.37   5.39   9.81  13.32 
+     1   6.30 894.39   5.22  11.13   3.00   8.42   7.31  10.82 
+     2   4.99  15.46 905.27   9.06   3.21   4.41   1.56   3.63 
+     3   8.02   9.41   8.79 919.66  15.72   8.25   1.96   2.49 
+     4  12.51   8.71   4.10   6.10 901.75   4.96  21.47  20.15 
+     5  11.05   9.16  10.80  12.61  12.61 922.92   4.35   7.63 
+     6  17.65  17.25  22.41  22.39  19.75  17.02 937.88  22.39 
+     7  18.60  19.16  21.70  22.28  22.19  21.98  22.01 940.54 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  13.07  10.83  11.60  11.50  18.87  11.59  11.52 
+     1  10.51   1.41  10.51  15.53  13.14  11.38  11.28  11.44 
+     2  12.36  11.50   1.44  11.36  20.08  11.32  11.53  11.64 
+     3  11.52  11.36  11.26   1.52  11.42  11.36  11.35  11.51 
+     4  11.65  13.24  13.42  14.82   1.38  12.38  12.86  13.82 
+     5  13.13  14.47  14.14  15.26  13.10   1.36  14.47  14.60 
+     6  11.66  11.66  13.42  12.87  11.44  14.44   1.37  14.53 
+     7  11.36  11.35  11.52  11.61  11.51  11.50  11.51   1.47 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.37   8.14   6.94   7.50   8.40   8.16   8.21   8.01 
+     1   6.88   2.43   6.65   7.27   8.26   8.08   8.21   8.17 
+     2   6.90   6.70   2.28   7.34   8.30   8.09   8.07   8.01 
+     3   7.36   7.28   7.46   2.53   8.79   8.63   9.02   8.65 
+     4   8.09   7.95   7.87   8.55   2.96   9.37   9.37   9.28 
+     5   7.94   8.25   7.77   8.32   9.39   2.78   9.32   9.18 
+     6   7.89   7.77   7.82   8.57   9.40   9.21   2.89   9.35 
+     7   8.02   7.78   7.70   8.28   9.31   9.06   9.26   2.85 
+2026-11-03T14:47:46Z [20,038ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.6 GB/s.
+2026-11-03T14:47:46Z [20,038ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.1 us.
+2026-11-03T14:47:46Z [20,038ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:50Z [23,634ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,634ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,715ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,715ms] [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)
+2026-11-03T14:47:50Z [23,727ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,727ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,879ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,883ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,884ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [23,888ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:50Z [23,888ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:51Z [24,508ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [26,535ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [39,945ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [41,508ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [57,884ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [57,888ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [58,577ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [64,024ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,025ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,028ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [64,052ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [64,073ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [64,074ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T14:48:46Z [79,659ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559b0c0e9f40>)
+
+2026-11-03T14:48:46Z [79,661ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x559b0c0e9f40>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T14:48:52Z [86,271ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.415134 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:49:00Z [93,736ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [93,737ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,774ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [93,774ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,783ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [93,790ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:00Z [94,086ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [94,114ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:06Z [99,486ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((65))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,486ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((65))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,511ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-03T14:49:06Z [99,511ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,019ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,019ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,032ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,033ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,108ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,154ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,155ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:07Z [101,155ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,167ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,168ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,168ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,200ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,200ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,201ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T14:49:08Z [102,375ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,095ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,096ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,096ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,096ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,096ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,097ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,098ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,098ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,116ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,116ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,116ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,116ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,116ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,117ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,118ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:09Z [103,118ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T14:49:10Z [103,924ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:10Z [104,404ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((65))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,404ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((65))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,405ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,410ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,411ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,411ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,413ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,413ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,413ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,415ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,415ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,415ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,416ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,416ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T14:49:10Z [104,416ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.865683 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
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  6%|▌         | 54/900 [03:28<30:08,  2.14s/it]2026-11-03T14:52:42Z [316,062ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
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+2026-11-03T15:46:28Z [3,542,266ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T15:46:33Z] GPU 7: SmallPumpkinInBinTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T15:47:03Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_154707.log
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+2026-11-03T15:47:07Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T15:47:07Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
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+2026-11-03T15:47:07Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T15:47:07Z [51ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T15:47:07Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T15:47:07Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T15:47:11Z [4,104ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:11Z [4,105ms] [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)
+2026-11-03T15:47:11Z [4,172ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T15:47:12Z [5,032ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:12Z [5,033ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:12Z [5,035ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 860726
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T15:47:14Z [7,079ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T15:47:14Z [7,080ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 909.27  17.50  17.93  16.66  18.62  18.85  18.09  17.94 
+     1  18.87 918.04   7.86  17.31  20.16  19.46  19.48  19.18 
+     2  17.06  18.11 920.74  16.71  18.64  18.08  18.07  17.66 
+     3  17.47  19.30  12.95 920.20  20.29  19.01  19.46  19.30 
+     4  21.83  22.25  21.94  22.10 917.70  22.40  21.95  22.50 
+     5  21.60  22.18  20.49  22.58  22.36 919.00  22.51  22.38 
+     6  20.12  22.40  20.68  21.98  22.28  22.59 919.12  22.48 
+     7  19.56  22.26  20.60  22.53  22.27  22.19  22.52 921.83 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.43  12.44  12.44  12.97  12.45  12.82  12.36  13.11 
+     1  12.45   1.45  12.58  13.70  12.86  15.68  14.41  12.39 
+     2  13.40  12.76   1.45  15.27  18.15  11.57  11.61  11.37 
+     3  11.36  17.80 470.04   1.40  11.52  11.53  11.52  11.42 
+     4  11.44  12.82  12.61  14.97   1.39  11.44  13.22  13.94 
+     5  11.27  13.54  12.22  14.56  11.92   1.36  15.33  15.71 
+     6  12.89  14.05  16.33  16.95  14.18  15.43   1.37  11.71 
+     7  15.81  13.51  14.67  16.78  14.51  16.02  14.36   1.34 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.55   9.45  10.42   9.42  10.77  10.59  10.48  12.70 
+     1   9.60   3.25   9.30   9.47  10.88  10.70  10.72  10.81 
+     2   9.43   9.49   2.98   9.72  12.20   8.75   8.72   8.69 
+     3   8.13   7.81   8.08   2.64   8.84   8.64   8.68   8.56 
+     4   8.77   8.37   9.24   8.48   2.85   9.31   9.27   9.13 
+     5   8.48   8.24   8.54   8.47   9.24   2.77   9.20   9.13 
+     6  11.01  10.53  10.90  10.69  12.53  12.47   3.64  12.37 
+     7  10.64  10.55  10.90  10.80  12.34  11.80  12.09   3.61 
+2026-11-03T15:47:17Z [9,894ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 7.9 GB/s.
+2026-11-03T15:47:17Z [9,895ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 470.0 us.
+2026-11-03T15:47:17Z [9,895ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T15:47:21Z [13,310ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,311ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:21Z [13,404ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,404ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:21Z [13,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,441ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:21Z [13,628ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,628ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:21Z [13,633ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,633ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:21Z [13,639ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T15:47:21Z [13,639ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T15:47:22Z [14,569ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T15:47:25Z [17,830ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T15:47:35Z [28,204ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T15:47:37Z [29,377ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T15:47:50Z [42,641ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T15:47:50Z [42,643ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T15:47:50Z [43,135ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T15:47:54Z [46,253ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T15:47:54Z [46,254ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T15:47:54Z [46,258ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T15:47:54Z [46,277ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T15:47:54Z [46,296ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T15:47:54Z [46,296ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T15:48:09Z [61,500ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562e92593890>)
+
+2026-11-03T15:48:09Z [61,501ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x562e92593890>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T15:48:15Z [67,294ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.435985 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:48:21Z [73,443ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:48:21Z [73,444ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:48:21Z [73,516ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:48:21Z [73,516ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:48:21Z [73,524ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:48:21Z [73,532ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:48:21Z [73,844ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T15:48:21Z [73,883ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T15:48:23Z [75,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,854ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,854ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,867ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((38))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,867ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((38))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,876ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T15:48:23Z [75,877ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T15:48:25Z [77,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-03T15:48:25Z [77,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-03T15:48:25Z [77,859ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T15:48:25Z [77,859ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,761ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,911ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,911ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,911ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,939ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,939ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:28Z [80,939ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:30Z [82,276ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+2026-11-03T15:48:30Z [82,276ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+2026-11-03T15:48:30Z [82,276ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+2026-11-03T15:48:30Z [82,520ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((276))' not available in the MDL representation.
+2026-11-03T15:48:30Z [82,520ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((276))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,260ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T15:48:31Z [83,589ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,589ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,589ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,590ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((38))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,590ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((38))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,598ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,598ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,602ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,603ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,603ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,604ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,604ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,604ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+2026-11-03T15:48:31Z [83,607ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((228))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.027226 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json.
+SmallPumpkinInBinTask_0 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 225, duration: 15.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.763902379359433, 'joint_sparc_mean': -5.964532561762264, 'ee_isj': 2004.6854753289322, 'joint_isj': 23333.417922537854, 'ee_path_length': 2.1166051839732165, 'joint_rmse_mean': 1.1057369345993315, 'ee_speed_max': 1.0801156759262085, 'ee_speed_mean': 0.13491491973400116}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 639.846, 'policy_inference_avg_ms': 2843.8, 'env_step_s': 152.406, 'env_step_avg_ms': 677.4, 'video_write_s': 2.253, 'video_write_avg_ms': 10.0, 'wall_total_s': 794.505, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 49ba3d6677b94e9e9f7f26b5dcad22dd-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
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+2026-11-03T17:01:08Z [4,440,781ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T17:01:12Z] GPU 7: SmallPumpkinInBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:01:42Z] GPU 7: Starting worker at SmallPumpkinInBinTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_170147.log
+2026-11-03T17:01:47Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T17:01:47Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T17:01:47Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T17:01:47Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T17:01:47Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T17:01:47Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T17:01:47Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T17:01:47Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T17:01:47Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T17:01:47Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T17:01:47Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T17:01:47Z [44ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T17:01:47Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T17:01:47Z [49ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T17:01:47Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T17:01:47Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T17:01:47Z [60ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T17:01:50Z [3,576ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:50Z [3,576ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:50Z [3,644ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T17:01:51Z [4,363ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:51Z [4,364ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:51Z [4,366ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 857922
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T17:01:53Z [6,394ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T17:01:53Z [6,395ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.61  18.39  16.19  16.66  19.00  18.99  18.92  18.70 
+     1  19.33 920.20  18.29  19.34  19.47  20.10  19.70  19.76 
+     2  18.05  18.62 918.41  17.77  19.33  19.44  18.67  19.26 
+     3  17.66  18.75  19.01 919.66  18.80  19.87  19.71  19.29 
+     4  22.44  20.18  22.43  22.39 917.85  22.42  22.56  22.24 
+     5  20.19  22.32  21.90  22.46  22.50 919.74  22.11  22.07 
+     6  20.44  22.39  20.96  22.42  22.21  22.04 920.01  22.10 
+     7  20.29  22.46  22.05  22.44  22.31  21.92  22.00 922.92 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.43  12.11  12.28  11.84  17.29  12.02  13.11  11.87 
+     1  12.45   1.43  12.25  13.16  11.77  11.92  12.90  13.67 
+     2  12.63  12.45   1.44  12.46  12.66  12.54  12.53  12.45 
+     3  12.96  12.02  12.29   1.41  11.78  12.24  11.59  11.63 
+     4  17.30  11.36  12.02  15.22   1.38  11.53  11.48  20.43 
+     5  13.13  17.08  15.23  14.16  13.78   1.42  11.34  15.64 
+     6  12.82  16.18  15.67  15.39  11.38  20.53   1.37  15.63 
+     7  12.83  16.04  18.37  14.99  12.81  16.02  14.06   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.55  10.26   9.32   9.54  11.04  10.98  10.59  10.86 
+     1   9.55   3.51   9.26   9.39  11.58  10.89  10.45  10.41 
+     2   9.26   9.01   3.16   9.14  10.73  10.62  10.50  10.40 
+     3   9.21   8.89   8.93   3.31  10.73  10.65  10.51  10.40 
+     4  10.55  10.13  10.07  10.11   3.76  12.01  11.77  11.62 
+     5  10.01  10.00  10.03  10.06  11.76   3.50  14.17  12.16 
+     6  10.82  10.80  10.78  10.63  12.40  12.17   3.66  12.38 
+     7  10.70  10.39  18.52  10.22  12.11  11.92  11.77   3.60 
+2026-11-03T17:01:56Z [9,050ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.2 GB/s.
+2026-11-03T17:01:56Z [9,050ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-03T17:01:56Z [9,051ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T17:01:59Z [12,351ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,351ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:59Z [12,444ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,444ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:59Z [12,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,455ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:59Z [12,630ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,630ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:59Z [12,635ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,635ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:01:59Z [12,641ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:01:59Z [12,641ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:02:00Z [13,571ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T17:02:03Z [16,746ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T17:02:13Z [26,537ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T17:02:14Z [27,736ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T17:02:27Z [40,121ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T17:02:27Z [40,124ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T17:02:27Z [40,605ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T17:02:30Z [43,682ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:02:30Z [43,683ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:02:30Z [43,686ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:02:30Z [43,720ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T17:02:30Z [43,740ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:02:30Z [43,740ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T17:02:46Z [59,389ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x560a606ce060>)
+
+2026-11-03T17:02:46Z [59,390ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x560a606ce060>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:02:52Z [65,238ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.569181 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:02:58Z [71,479ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:02:58Z [71,481ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:02:58Z [71,553ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:02:58Z [71,553ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:02:58Z [71,561ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:02:58Z [71,567ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:02:58Z [71,874ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:02:59Z [71,934ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:03:01Z [74,554ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-11-03T17:03:01Z [74,555ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,700ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,700ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,702ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,703ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,704ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,704ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,704ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,704ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:03Z [76,704ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,657ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,657ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,703ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,712ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,713ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,713ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,821ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,822ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,822ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,835ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,835ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,836ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,837ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,837ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,837ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,837ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,837ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,873ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,873ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,874ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,889ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-03T17:03:04Z [77,889ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,205ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:07Z [80,207ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((218))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,163ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T17:03:08Z [81,512ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,513ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((51))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,516ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,516ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,519ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,519ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,521ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,521ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,521ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,522ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,522ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,522ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,525ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,527ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,527ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+2026-11-03T17:03:08Z [81,527ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((151))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 13.847979 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `SmallPumpkinInBinTask` run `0` already done. Skipping.
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json.
+SmallPumpkinInBinTask_1 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 225, duration: 15.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.773610260591767, 'joint_sparc_mean': -6.104639900985453, 'ee_isj': 1183.3089301065586, 'joint_isj': 26960.441150511397, 'ee_path_length': 2.281579701605085, 'joint_rmse_mean': 1.0031415421107053, 'ee_speed_max': 0.64471435546875, 'ee_speed_mean': 0.1469028890132904}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 643.203, 'policy_inference_avg_ms': 2858.7, 'env_step_s': 152.945, 'env_step_avg_ms': 679.8, 'video_write_s': 2.2, 'video_write_avg_ms': 9.8, 'wall_total_s': 798.348, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 656051e87e124ff18f384ed97c71d196-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json.
+SmallPumpkinInBinTask_2 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 321, duration: 21.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.681343437436631, 'joint_sparc_mean': -9.282919722656812, 'ee_isj': 1128.2165309611905, 'joint_isj': 20444.51484177525, 'ee_path_length': 2.346617750926432, 'joint_rmse_mean': 1.0092904751705538, 'ee_speed_max': 0.3941785991191864, 'ee_speed_mean': 0.10568302869796753}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 990.96, 'policy_inference_avg_ms': 3087.1, 'env_step_s': 217.694, 'env_step_avg_ms': 678.2, 'video_write_s': 2.78, 'video_write_avg_ms': 8.7, 'wall_total_s': 1211.434, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b3336df363ab45c8bd48c2f35703d8a1-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:37:45Z [2,157,914ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.222784 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:37:48Z [2,161,308ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:37:48Z [2,161,308ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:37:48Z [2,161,317ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:37:48Z [2,161,317ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:37:48Z [2,161,326ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:37:48Z [2,161,333ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:37:48Z [2,161,351ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T17:37:52Z [2,164,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,164,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,164,930ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,164,931ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,127ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,139ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,139ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,160ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((436))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,161ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((436))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,182ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-11-03T17:37:52Z [2,165,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,899ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,899ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,900ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((411))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,902ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,902ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((426))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,903ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((436))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,903ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((436))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+2026-11-03T17:37:53Z [2,165,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((447))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 7.877273 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 161, duration: 10.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.448690582999875, 'joint_sparc_mean': -6.460351899068391, 'ee_isj': 1088.5126190541278, 'joint_isj': 59569.22537398538, 'ee_path_length': 1.5857792248618925, 'joint_rmse_mean': 1.1506282562459458, 'ee_speed_max': 0.4330419898033142, 'ee_speed_mean': 0.13484224677085876}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 467.502, 'policy_inference_avg_ms': 2903.7, 'env_step_s': 46.145, 'env_step_avg_ms': 286.6, 'video_write_s': 1.742, 'video_write_avg_ms': 10.8, 'wall_total_s': 515.39, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 395aef0d8a184635a373e364ef146f8c-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+2026-11-03T18:52:39Z [6,652,044ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:52:43Z] GPU 7: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:53:13Z] GPU 7: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_185317.log
+2026-11-03T18:53:17Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T18:53:17Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T18:53:17Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T18:53:17Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T18:53:17Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T18:53:17Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T18:53:17Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T18:53:17Z [30ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T18:53:17Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T18:53:17Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T18:53:17Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T18:53:17Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T18:53:17Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T18:53:17Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T18:53:17Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T18:53:17Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T18:53:17Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T18:53:21Z [3,458ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:21Z [3,459ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:21Z [3,540ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:53:22Z [4,300ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:22Z [4,301ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:22Z [4,303ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 866490
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:53:24Z [6,326ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:53:24Z [6,326ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.98  21.94  21.57  22.07  20.44  22.08  22.00  22.32 
+     1  19.32 920.74  21.91  22.12  19.87  22.41  20.61  22.34 
+     2  18.59  22.09 919.12  22.08  20.00  22.28  21.92  22.27 
+     3  17.66  22.31  22.26 920.20  21.98  22.21  21.85  22.52 
+     4  22.34  17.24  18.30  17.96 922.07  17.16  17.24  16.32 
+     5  22.14  18.71  19.51  19.09  18.43 920.28  17.72  18.53 
+     6  21.96  17.95  17.08  17.42  17.16  16.91 919.66  17.19 
+     7  20.59  19.40  18.57  19.42  17.48  17.85  18.56 921.83 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  12.92  20.58  11.95  15.36  13.69  13.83  13.24 
+     1  20.39   1.42  11.40  20.52  16.30  15.55  16.67  15.19 
+     2  11.63  13.79   1.44  11.45  12.88  12.25  12.35  14.65 
+     3  19.87  17.09  11.52   1.44  12.33  12.10  12.31  13.80 
+     4  13.54  11.63  11.38  11.46   1.38  11.48  12.23  11.67 
+     5  11.39  11.56  11.63  11.60  12.10   1.39  12.04  11.38 
+     6  11.53  11.56  11.57  11.40  12.05  11.55   1.42  11.39 
+     7  13.72  11.56  13.11  12.36  12.37  12.37  12.46   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.06  11.48  11.14  10.74   9.06   8.98   9.11   8.93 
+     1  10.99   3.59  11.82  12.01  10.04   9.85   9.89   9.78 
+     2  11.11  10.75   3.56  11.70  10.12   9.94   9.96   9.85 
+     3  11.62  10.36  11.81   3.46  10.06   9.91   9.90   9.74 
+     4  11.85   9.40  10.49  10.58   3.07   8.87   8.86   8.70 
+     5   9.57   9.24  10.41  10.46   8.79   2.82   8.98   8.62 
+     6   9.54   9.39  10.64  10.47   8.91   8.66   2.96   8.80 
+     7   9.25  10.13  10.48  10.41   8.88   8.58   8.77   2.94 
+2026-11-03T18:53:26Z [9,024ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.3 GB/s.
+2026-11-03T18:53:26Z [9,024ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T18:53:26Z [9,025ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:53:29Z [12,174ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:29Z [12,174ms] [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)
+2026-11-03T18:53:29Z [12,256ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:29Z [12,256ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:29Z [12,266ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:29Z [12,266ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:30Z [12,437ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:30Z [12,437ms] [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)
+2026-11-03T18:53:30Z [12,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:30Z [12,442ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:30Z [12,447ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:53:30Z [12,447ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:53:30Z [13,282ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:53:33Z [16,293ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:53:43Z [25,538ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:53:44Z [26,676ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T18:53:56Z [38,440ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T18:53:56Z [38,443ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T18:53:56Z [38,903ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T18:53:59Z [42,166ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:53:59Z [42,167ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:53:59Z [42,170ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:53:59Z [42,188ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T18:53:59Z [42,200ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:53:59Z [42,200ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T18:54:14Z [56,738ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56036ad507c0>)
+
+2026-11-03T18:54:14Z [56,739ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x56036ad507c0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T18:54:20Z [62,463ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.447288 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:54:24Z [67,228ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:54:24Z [67,229ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:54:25Z [67,306ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:54:25Z [67,306ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:54:25Z [67,315ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:54:25Z [67,322ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:54:25Z [67,510ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:54:25Z [67,531ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:54:30Z [72,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,305ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,319ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,319ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,333ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,333ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,373ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,609ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,609ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,862ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T18:54:30Z [72,862ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T18:54:32Z [75,172ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T18:54:33Z [75,507ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,508ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,508ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,508ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((110))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,509ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,509ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,511ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,511ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,512ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,512ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,513ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-03T18:54:33Z [75,513ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.694286 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 242, duration: 16.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.252357444863191, 'joint_sparc_mean': -7.743137720185392, 'ee_isj': 1179.8646912731745, 'joint_isj': 19286.522835340762, 'ee_path_length': 1.8595919598985522, 'joint_rmse_mean': 0.9184777890652939, 'ee_speed_max': 0.5910496115684509, 'ee_speed_mean': 0.10807882249355316}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 849.635, 'policy_inference_avg_ms': 3510.9, 'env_step_s': 70.41, 'env_step_avg_ms': 291.0, 'video_write_s': 2.576, 'video_write_avg_ms': 10.6, 'wall_total_s': 922.621, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 5cc0d5dc4f3742069c74d76631768e78-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 120, duration: 8.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.681718391473009, 'joint_sparc_mean': -5.4143362809798266, 'ee_isj': 537.1232036120252, 'joint_isj': 17563.828956376023, 'ee_path_length': 0.9875360581271092, 'joint_rmse_mean': 1.0091020933947852, 'ee_speed_max': 0.38741567730903625, 'ee_speed_mean': 0.11413311958312988}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 2, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 363.855, 'policy_inference_avg_ms': 3032.1, 'env_step_s': 35.044, 'env_step_avg_ms': 292.0, 'video_write_s': 1.577, 'video_write_avg_ms': 13.1, 'wall_total_s': 400.476, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 2e473b3aba9e45b4b725157b205df84a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:17:36Z [1,458,969ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.276853 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:17:39Z [1,461,451ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:17:39Z [1,461,451ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:17:39Z [1,461,460ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:17:39Z [1,461,460ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:17:39Z [1,461,468ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:17:39Z [1,461,475ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:17:39Z [1,461,493ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T19:17:39Z [1,462,138ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,139ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,170ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,170ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,192ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,192ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,193ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-03T19:17:39Z [1,462,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-03T19:17:40Z [1,462,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:40Z [1,462,374ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:40Z [1,462,374ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,358ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,358ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,359ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,446ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((451))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,464,452ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((451))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,078ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,078ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,080ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,080ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((345))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,081ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,081ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,081ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,082ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,082ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,085ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,085ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,085ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,086ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,086ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,086ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,089ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,089ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-11-03T19:17:42Z [1,465,089ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.934030 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 172, duration: 11.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.40245904305434, 'joint_sparc_mean': -7.1104407578378455, 'ee_isj': 2047.7449485567333, 'joint_isj': 72860.62106987796, 'ee_path_length': 2.200724569126287, 'joint_rmse_mean': 0.9896907753041067, 'ee_speed_max': 0.5168847441673279, 'ee_speed_mean': 0.17723596096038818}, events: {'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 815.868, 'policy_inference_avg_ms': 4743.4, 'env_step_s': 54.654, 'env_step_avg_ms': 317.8, 'video_write_s': 1.867, 'video_write_avg_ms': 10.9, 'wall_total_s': 872.39, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: defc57d3346745e78945047fa4c595bd-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
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+2026-11-03T20:29:53Z [5,795,627ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T20:29:57Z] GPU 7: TakeSpatulaOffShelfTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:30:27Z] GPU 7: Starting worker at TakeSpatulaOffShelfTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_203031.log
+2026-11-03T20:30:31Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T20:30:31Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T20:30:31Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T20:30:31Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T20:30:31Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T20:30:31Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T20:30:31Z [27ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T20:30:31Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T20:30:31Z [36ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T20:30:31Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T20:30:31Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T20:30:31Z [44ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T20:30:31Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T20:30:31Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T20:30:31Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T20:30:31Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T20:30:31Z [63ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T20:30:35Z [3,791ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:35Z [3,792ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:35Z [3,882ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T20:30:35Z [4,623ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:35Z [4,624ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:35Z [4,625ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 863553
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T20:30:37Z [6,734ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T20:30:37Z [6,735ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 916.29  16.45  17.89  16.65  18.32  19.00  19.04  18.62 
+     1  20.41 918.61  18.17  19.43  19.77  19.18  19.63  19.74 
+     2  19.41  17.81 918.04  18.41  18.31  19.18  19.27  19.25 
+     3  17.96  18.74  19.19 920.74  19.01  19.81  19.68  19.31 
+     4  22.51  20.58  22.55  22.21 920.25  22.26  22.45  22.29 
+     5  20.03  22.23  20.95  22.51  22.36 919.64  22.28  22.57 
+     6  19.96  22.42  20.78  22.49  22.18  22.37 918.58  22.35 
+     7  20.52  22.15  21.05  22.40  22.72  22.21  22.36 921.83 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.43  11.94  12.35  11.86  11.47  12.15  11.80  11.94 
+     1  12.42   1.53  12.27  11.82  15.63  11.63  11.60  14.58 
+     2  14.52  15.19   1.40  11.36  12.02  12.20  14.79  13.01 
+     3  14.27  11.48  12.86   1.41  15.14  15.49  11.96  12.42 
+     4  15.31  15.61  15.48  13.36   1.34  18.73  10.37  10.87 
+     5  13.95  15.29  13.56  13.42  14.00   1.36  10.58  10.49 
+     6  13.38  14.60  14.22  14.68  10.41  10.34   1.36  10.58 
+     7  14.19  13.10  15.42  12.49  10.55  10.42  10.63   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.04  10.29  11.16  10.22   8.58   8.29   8.23   8.05 
+     1  10.12   2.91  10.15   9.91   8.51   8.22   8.13   8.02 
+     2  10.29   9.38   2.78   9.36   7.89   7.80   7.67   7.86 
+     3   9.57   9.54   9.94   2.75   8.06   7.85   7.81   7.83 
+     4   8.51   8.41   8.48   8.55   2.48   6.94   7.43   7.19 
+     5   8.99   9.09   8.32   8.30   6.83   2.23   6.63   6.85 
+     6   8.53   8.29   8.90   8.59   6.88   6.85   2.34   6.84 
+     7   8.22   8.46   8.50   8.19   6.92   6.49   6.62   2.29 
+2026-11-03T20:30:40Z [9,417ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.4 GB/s.
+2026-11-03T20:30:40Z [9,417ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.7 us.
+2026-11-03T20:30:40Z [9,417ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T20:30:43Z [12,606ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:43Z [12,607ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:43Z [12,683ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:43Z [12,683ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:43Z [12,691ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:43Z [12,691ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:44Z [12,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:44Z [12,872ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:44Z [12,878ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:44Z [12,878ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:44Z [12,884ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:30:44Z [12,885ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:30:45Z [13,769ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T20:30:48Z [16,850ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T20:30:57Z [25,916ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T20:30:58Z [27,055ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T20:31:11Z [39,971ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T20:31:11Z [39,973ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T20:31:11Z [40,474ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T20:31:14Z [43,513ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:31:14Z [43,514ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:31:14Z [43,516ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:31:14Z [43,543ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T20:31:14Z [43,556ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:31:14Z [43,556ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T20:31:29Z [57,961ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x564ad0bead60>)
+
+2026-11-03T20:31:29Z [57,962ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x564ad0bead60>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+Loaded 7 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[RoboLab] Task `ReorientWhiteMugsTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T20:31:34Z [63,683ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.451762 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:31:40Z [69,173ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:31:40Z [69,174ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:31:40Z [69,251ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:31:40Z [69,251ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:31:40Z [69,259ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:31:40Z [69,267ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:31:40Z [69,488ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:31:40Z [69,516ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:31:45Z [74,423ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:45Z [74,424ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:45Z [74,424ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,328ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,329ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,358ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,359ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,359ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,722ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T20:31:47Z [76,722ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T20:31:48Z [76,966ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:48Z [76,966ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:48Z [76,966ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:49Z [78,559ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T20:31:49Z [78,559ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T20:31:49Z [78,613ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-11-03T20:31:49Z [78,613ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-11-03T20:31:50Z [79,112ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T20:31:50Z [79,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T20:31:50Z [79,113ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T20:31:51Z [79,752ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T20:31:51Z [80,053ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,053ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,053ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,057ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,059ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,059ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,060ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,061ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,061ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((173))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,061ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,062ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,063ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,063ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((199))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,066ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,067ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-03T20:31:51Z [80,067ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.021771 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `TakeSpatulaOffShelfTask` run `0` already done. Skipping.
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json.
+TakeSpatulaOffShelfTask_1 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_1, run: 1, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 348, duration: 23.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.283773758558926, 'joint_sparc_mean': -8.51133454998955, 'ee_isj': 2462.3949196735375, 'joint_isj': 121497.42266413895, 'ee_path_length': 3.8422222484640356, 'joint_rmse_mean': 1.2525291317498872, 'ee_speed_max': 0.47703173756599426, 'ee_speed_mean': 0.15207837522029877}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1269.37, 'policy_inference_avg_ms': 3647.6, 'env_step_s': 109.515, 'env_step_avg_ms': 314.7, 'video_write_s': 2.967, 'video_write_avg_ms': 8.5, 'wall_total_s': 1381.852, 'it_per_sec': 0.25}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: c5ff6f8617424a1ea510106616a25852-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 128, duration: 8.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9053375763697877, 'joint_sparc_mean': -5.763268124708011, 'ee_isj': 877.229862776385, 'joint_isj': 32281.10893653493, 'ee_path_length': 1.3548266314320452, 'joint_rmse_mean': 0.9587334019435876, 'ee_speed_max': 0.5005432963371277, 'ee_speed_mean': 0.14381325244903564}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 394.128, 'policy_inference_avg_ms': 3079.1, 'env_step_s': 39.01, 'env_step_avg_ms': 304.8, 'video_write_s': 1.478, 'video_write_avg_ms': 11.5, 'wall_total_s': 434.616, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: b0ca6cf16c7d4c31a78589aadec1bdbc-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:03:13Z [1,962,029ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.189624 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:03:16Z [1,964,900ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:03:16Z [1,964,901ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:03:16Z [1,964,913ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:03:16Z [1,964,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:03:16Z [1,964,925ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:03:16Z [1,964,932ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:03:16Z [1,964,950ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T21:03:16Z [1,965,355ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,366ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,366ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,503ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,504ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,533ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T21:03:16Z [1,965,534ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,119ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,120ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((389))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,120ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,120ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,125ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,125ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,126ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T21:03:17Z [1,966,126ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.015851 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 317, duration: 21.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.156900801129458, 'joint_sparc_mean': -7.480759225140387, 'ee_isj': 2717.559557818957, 'joint_isj': 50492.405067831176, 'ee_path_length': 3.7123320540456097, 'joint_rmse_mean': 0.9539174492434255, 'ee_speed_max': 0.9235780239105225, 'ee_speed_mean': 0.1653766632080078}, events: {'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 4, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 943.31, 'policy_inference_avg_ms': 2975.7, 'env_step_s': 75.388, 'env_step_avg_ms': 237.8, 'video_write_s': 3.055, 'video_write_avg_ms': 9.6, 'wall_total_s': 1021.754, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 050e03af8b084cbcb8b3b9bcdec4e586-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 209, duration: 13.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.798547072057539, 'joint_sparc_mean': -7.487793528828155, 'ee_isj': 1873.6766089823361, 'joint_isj': 23839.856609498944, 'ee_path_length': 2.6551951223732067, 'joint_rmse_mean': 0.8714386645394561, 'ee_speed_max': 0.5910963416099548, 'ee_speed_mean': 0.18288472294807434}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 4}, instruction_type: default, timing: {'policy_inference_s': 611.679, 'policy_inference_avg_ms': 2926.7, 'env_step_s': 49.911, 'env_step_avg_ms': 238.8, 'video_write_s': 1.947, 'video_write_avg_ms': 9.3, 'wall_total_s': 663.537, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1dc0e5a1e8044dcfbaaf00a5fa527941-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 257, duration: 17.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.790654441687019, 'joint_sparc_mean': -7.614679010951005, 'ee_isj': 2272.6574757276676, 'joint_isj': 35482.02540783083, 'ee_path_length': 3.177587191260221, 'joint_rmse_mean': 0.945067955986513, 'ee_speed_max': 0.8343515396118164, 'ee_speed_mean': 0.1753561794757843}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 3}, instruction_type: default, timing: {'policy_inference_s': 706.511, 'policy_inference_avg_ms': 2749.1, 'env_step_s': 61.269, 'env_step_avg_ms': 238.4, 'video_write_s': 2.336, 'video_write_avg_ms': 9.1, 'wall_total_s': 770.116, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b698311d69aa452ba71481ec7985e9ac-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:45:49Z [4,518,181ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.192563 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:45:53Z [4,522,196ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T21:45:53Z [4,522,306ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:45:53Z [4,522,306ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:45:53Z [4,522,314ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:45:53Z [4,522,314ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:45:53Z [4,522,322ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:45:53Z [4,522,328ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:45:54Z [4,522,847ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((597))' not available in the MDL representation.
+2026-11-03T21:45:54Z [4,522,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((597))' not available in the MDL representation.
+2026-11-03T21:45:55Z [4,524,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((597))' not available in the MDL representation.
+2026-11-03T21:45:55Z [4,524,595ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((597))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.328532 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 81, duration: 5.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9941554007706666, 'joint_sparc_mean': -3.0136934748106183, 'ee_isj': 457.06693811753325, 'joint_isj': 4212.974968723005, 'ee_path_length': 0.874249475407353, 'joint_rmse_mean': 0.7966031999719282, 'ee_speed_max': 0.4884819984436035, 'ee_speed_mean': 0.1552056223154068}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 182.388, 'policy_inference_avg_ms': 2251.7, 'env_step_s': 16.993, 'env_step_avg_ms': 209.8, 'video_write_s': 1.296, 'video_write_avg_ms': 16.0, 'wall_total_s': 200.676, 'it_per_sec': 0.4}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d9d4d099fd6d45f0a219fbe9f6eca3c9-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.127724862075684, 'joint_sparc_mean': -8.031131250138435, 'ee_isj': 747478.9418977215, 'joint_isj': 5727686.001660484, 'ee_path_length': 10.8690544294857, 'joint_rmse_mean': 1.3592914630453756, 'ee_speed_max': 8.974934577941895, 'ee_speed_mean': 0.38268792629241943}, events: {'GRIPPER_FULLY_CLOSED': 6, 'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1}, instruction_type: default, timing: {'policy_inference_s': 1030.146, 'policy_inference_avg_ms': 2289.2, 'env_step_s': 90.601, 'env_step_avg_ms': 201.3, 'video_write_s': 3.476, 'video_write_avg_ms': 7.7, 'wall_total_s': 1124.223, 'it_per_sec': 0.4}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 618c88fc86e9490db638ec2fda432e96-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 68, duration: 4.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -2.9774435501560563, 'joint_sparc_mean': -3.38384305695839, 'ee_isj': 771.6313380954592, 'joint_isj': 10428.246580329544, 'ee_path_length': 0.9723402407150887, 'joint_rmse_mean': 0.8008199438768607, 'ee_speed_max': 0.8173088431358337, 'ee_speed_mean': 0.20841172337532043}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 178.403, 'policy_inference_avg_ms': 2623.6, 'env_step_s': 13.964, 'env_step_avg_ms': 205.4, 'video_write_s': 1.246, 'video_write_avg_ms': 18.3, 'wall_total_s': 193.613, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c255e443b0ee45178b4f02144a0df2e6-2
+------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name               Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)         14/15    93.3%   [69.8-98.4]    0.933        0.000       13.69   -5.27    2.72       16.6        0.30 12.6       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+MustardInLeftBinTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       4.97    -3.70    4.24       24.9        0.38 8.4        
+RedItemsInBinTask       3/3      100.0%  [39.8-99.4]    1.000        -           17.40   -5.58    3.18       17.5        0.32 13.6       
+ReorientWhiteMugsTask   3/3      100.0%  [39.8-99.4]    1.000        -           11.62   -5.46    1.48       11.9        0.29 10.2       
+SmallPumpkinInBinTask   3/3      100.0%  [39.8-99.4]    1.000        -           17.13   -6.07    2.25       12.9        0.27 15.6       
+TakeSpatulaOffShelfTask 3/3      100.0%  [39.8-99.4]    1.000        -           14.40   -5.53    2.47       15.8        0.25 14.9       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.episodes.jsonl
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.jsonl
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"contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the mustard in the left bin", "contact_object_list": ["table", "mustard", "grey_bin_right", "grey_bin_left"], "_instruction_variants": {"default": "Put the mustard in the left bin", "vague": "Use the left bin for mustard", "specific": "Pick up the mustard bottle and place it in the bin on the left side"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4818f0601b17368f0cf98e7287b5148ba07debd1
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/MustardInLeftBinTask/log_1_env0.json
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"gripper_closure_cfg": null, "instruction": "Put all the red things in the grey bin", "contact_object_list": ["mug", "bowl", "grey_bin", "table", "banana", "rubiks_cube"], "_instruction_variants": {"default": "Put all the red things in the grey bin", "vague": "Sort items by color", "specific": "Identify every red-colored object on the table and place each one into the grey bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b96e90477d13e745c328d8c3067fdf80f675afb
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 317, "events": [{"step": 32, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 59, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 60, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 60, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 105, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 105, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 152, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 192, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 233, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 292, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['mug', 'bowl'])", "score": 0.5}, {"step": 297, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.5}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.5}, {"step": 315, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.070m", "score": 0.5}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 317, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6005c1453186f5759e5bc1e7c11dab4b677129c7
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/ReorientWhiteMugsTask/log_2_env0.json
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"debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(<function object_grabbed at 0x7f037e486d40>, 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small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..84cccfdebd781de1cbfdebcaaec0aeb96f454440
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 225, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 40, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 69, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 94, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 94, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 163, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 225, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b12e8976b31a2886950efcb4b68d146c94d217
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 225, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 38, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 108, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 113, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 118, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 131, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 134, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 136, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 225, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37809ea43d71de6bc142edc40ea903795237745
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc59f538266573234bbbf707bbe87559c5df3eee
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": true, "final_step": 172, "events": [{"step": 9, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 51, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 53, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 53, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 130, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 169, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 169, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 172, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a6435b94e0f6a55d6ed05e995673c5906d6204
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": true, "final_step": 348, "events": [{"step": 7, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 171, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 345, "code": 100, "name": "UNKNOWN_SUCCESS", "info": "Completed subtask 'pick_and_place_on_surface' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d768e43cda78d2fc2815d43dbad3eec0a022a013
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_1.hdf5
new file mode 100644
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5 b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
new file mode 100644
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+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/TakeSpatulaOffShelfTask/run_2.hdf5
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_image640_v2/gpu_7/robolab/episode_results.jsonl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/harness_robolab_exploration/embo_image640_v2/gpu_7/server.log b/harness_robolab_exploration/embo_image640_v2/gpu_7/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..500d3b2fc03d85a886ef3d6435a22058e4585012
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/gpu_7/server.log
@@ -0,0 +1,247 @@
+[2026-11-03T14:47:21Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 34332) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 071a900681d9499cb0fa239aa7a138fc-0 (codex/gpt-6-astra) execution_error: wall=3431.218s harness=3113.887s tokens=4694897 usage_complete=False decisions=52 executed_steps=416 steps_complete=False network_wait=3.4100537672638893 rate_limit_wait=0 rate_limit_count=0 excluded=3.4100537672638893 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T144723.980045Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T15:46:33Z] GPU 7: SmallPumpkinInBinTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T15:47:03Z] GPU 7: Starting worker at SmallPumpkinInBinTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T154705.637557Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T154705.637557Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 36966) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 49ba3d6677b94e9e9f7f26b5dcad22dd-0 (codex/gpt-6-astra) ended: wall=794.666s harness=632.857s tokens=2402935 usage_complete=False decisions=29 executed_steps=225 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T154705.637557Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f96cffe54e9f4904807a3dcbe7e07a61-1 (codex/gpt-6-astra) execution_error: wall=3528.552s harness=3218.746s tokens=4764921 usage_complete=False decisions=53 executed_steps=424 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T154705.637557Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T17:01:12Z] GPU 7: SmallPumpkinInBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:01:42Z] GPU 7: Starting worker at SmallPumpkinInBinTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 34338) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 656051e87e124ff18f384ed97c71d196-1 (codex/gpt-6-astra) ended: wall=798.498s harness=636.409s tokens=1975680 usage_complete=False decisions=29 executed_steps=225 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b3336df363ab45c8bd48c2f35703d8a1-2 (codex/gpt-6-astra) ended: wall=1211.660s harness=981.052s tokens=2960903 usage_complete=False decisions=41 executed_steps=321 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 395aef0d8a184635a373e364ef146f8c-0 (codex/gpt-6-astra) ended: wall=515.493s harness=462.518s tokens=1846250 usage_complete=True decisions=21 executed_steps=161 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode ff44ef4aa3cc433da8a6169c468cc880-1 (codex/gpt-6-astra) execution_error: wall=3916.840s harness=3760.334s tokens=6034720 usage_complete=False decisions=59 executed_steps=472 steps_complete=False network_wait=21.097168795764446 rate_limit_wait=0 rate_limit_count=0 excluded=21.097168795764446 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T170145.172229Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:52:43Z] GPU 7: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:53:13Z] GPU 7: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37618) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5cc0d5dc4f3742069c74d76631768e78-1 (codex/gpt-6-astra) ended: wall=922.758s harness=841.717s tokens=2754713 usage_complete=False decisions=31 executed_steps=242 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2e473b3aba9e45b4b725157b205df84a-2 (codex/gpt-6-astra) ended: wall=400.557s harness=360.031s tokens=1375880 usage_complete=True decisions=15 executed_steps=120 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode defc57d3346745e78945047fa4c595bd-0 (codex/gpt-6-astra) ended: wall=730.138s harness=667.975s tokens=2217561 usage_complete=True decisions=22 executed_steps=172 steps_complete=True network_wait=142.35742904245853 rate_limit_wait=0 rate_limit_count=0 excluded=142.35742904245853 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b190f014cad24473a4f00679f05e7970-1 (codex/gpt-6-astra) execution_error: wall=3371.418s harness=3207.273s tokens=5212677 usage_complete=False decisions=56 executed_steps=448 steps_complete=False network_wait=54.51328422129154 rate_limit_wait=0 rate_limit_count=0 excluded=54.51328422129154 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T185315.538542Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T20:29:57Z] GPU 7: TakeSpatulaOffShelfTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:30:27Z] GPU 7: Starting worker at TakeSpatulaOffShelfTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8103
+INFO:websockets.server:server listening on 127.0.0.1:8103
+INFO:websockets.server:connection rejected (200 OK)
+INFO:websockets.server:connection open
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37062) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c5ff6f8617424a1ea510106616a25852-1 (codex/gpt-6-astra) ended: wall=1382.106s harness=1258.552s tokens=4097368 usage_complete=False decisions=44 executed_steps=348 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b0ca6cf16c7d4c31a78589aadec1bdbc-2 (codex/gpt-6-astra) ended: wall=434.696s harness=390.381s tokens=1359181 usage_complete=False decisions=16 executed_steps=128 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 050e03af8b084cbcb8b3b9bcdec4e586-0 (codex/gpt-6-astra) ended: wall=1021.967s harness=933.298s tokens=2908354 usage_complete=False decisions=40 executed_steps=317 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1dc0e5a1e8044dcfbaaf00a5fa527941-1 (codex/gpt-6-astra) ended: wall=663.660s harness=605.387s tokens=2201486 usage_complete=False decisions=27 executed_steps=209 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b698311d69aa452ba71481ec7985e9ac-2 (codex/gpt-6-astra) ended: wall=770.267s harness=698.871s tokens=2845031 usage_complete=False decisions=33 executed_steps=257 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d9d4d099fd6d45f0a219fbe9f6eca3c9-0 (codex/gpt-6-astra) ended: wall=200.726s harness=179.965s tokens=782938 usage_complete=True decisions=11 executed_steps=81 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 618c88fc86e9490db638ec2fda432e96-1 (codex/gpt-6-astra) ended: wall=1121.139s harness=1013.437s tokens=4498937 usage_complete=False decisions=57 executed_steps=450 steps_complete=True network_wait=3.33078346401453 rate_limit_wait=0 rate_limit_count=0 excluded=3.33078346401453 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c255e443b0ee45178b4f02144a0df2e6-2 (codex/gpt-6-astra) ended: wall=193.649s harness=176.378s tokens=898480 usage_complete=True decisions=9 executed_steps=68 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_image640_v2/gpu_7/harness/20261103T203029.314064Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37062) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_image640_v2/progress.log b/harness_robolab_exploration/embo_image640_v2/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..4c336eae352bef1aa3cb9e1a514eb51a11107c35
--- /dev/null
+++ b/harness_robolab_exploration/embo_image640_v2/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 5 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 687.901s | Mean Wall 837.961s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 687.901s | Mean Raw Wall 837.961s
+[Batch] GPU 6 finished MarkerInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 832.143s | Mean Wall 991.431s | Mean Tokens N/A (0/2 complete) | Mean Raw Harness 832.143s | Mean Raw Wall 991.431s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 911.188s | Mean Wall 1059.461s | Mean Tokens N/A (0/3 complete) | Mean Raw Harness 911.188s | Mean Raw Wall 1059.461s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 0/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 817.349s | Mean Wall 953.700s | Mean Tokens N/A (0/4 complete) | Mean Raw Harness 817.349s | Mean Raw Wall 953.700s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 1/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 723.470s | Mean Wall 849.727s | Mean Tokens 1,417,474.0 (1/5 complete) | Mean Raw Harness 723.470s | Mean Raw Wall 849.727s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 1/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 785.074s | Mean Wall 913.214s | Mean Tokens 1,417,474.0 (1/6 complete) | Mean Raw Harness 786.146s | Mean Raw Wall 914.286s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 1/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 804.109s | Mean Wall 926.388s | Mean Tokens 1,417,474.0 (1/7 complete) | Mean Raw Harness 805.838s | Mean Raw Wall 928.118s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 2/20 | Episodes 8/60 | Success 100.00% (8/8) | Mean Harness 851.977s | Mean Wall 977.791s | Mean Tokens 1,417,474.0 (1/8 complete) | Mean Raw Harness 853.490s | Mean Raw Wall 979.304s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 2/20 | Episodes 9/60 | Success 100.00% (9/9) | Mean Harness 851.113s | Mean Wall 972.722s | Mean Tokens 1,417,474.0 (1/9 complete) | Mean Raw Harness 852.458s | Mean Raw Wall 974.068s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 2/20 | Episodes 10/60 | Success 100.00% (10/10) | Mean Harness 829.287s | Mean Wall 954.917s | Mean Tokens 1,417,474.0 (1/10 complete) | Mean Raw Harness 830.498s | Mean Raw Wall 956.127s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 2/20 | Episodes 11/60 | Success 100.00% (11/11) | Mean Harness 833.138s | Mean Wall 956.908s | Mean Tokens 1,417,474.0 (1/11 complete) | Mean Raw Harness 834.238s | Mean Raw Wall 958.008s
+[Batch] GPU 5 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 100.00% (12/12) | Mean Harness 839.642s | Mean Wall 960.298s | Mean Tokens 1,417,474.0 (1/12 complete) | Mean Raw Harness 840.650s | Mean Raw Wall 961.307s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 3/20 | Episodes 13/60 | Success 100.00% (13/13) | Mean Harness 858.789s | Mean Wall 978.903s | Mean Tokens 1,417,474.0 (1/13 complete) | Mean Raw Harness 859.720s | Mean Raw Wall 979.835s
+[Batch] GPU 6 finished MarkerInMugTask/1: SUCCESS | Tasks 3/20 | Episodes 14/60 | Success 100.00% (14/14) | Mean Harness 879.986s | Mean Wall 1004.525s | Mean Tokens 1,417,474.0 (1/14 complete) | Mean Raw Harness 880.851s | Mean Raw Wall 1005.389s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 4/20 | Episodes 15/60 | Success 100.00% (15/15) | Mean Harness 858.658s | Mean Wall 979.753s | Mean Tokens 1,417,474.0 (1/15 complete) | Mean Raw Harness 859.465s | Mean Raw Wall 980.560s
+[Batch] GPU 5 finished ReorientRedMugTask/0: SUCCESS | Tasks 4/20 | Episodes 16/60 | Success 100.00% (16/16) | Mean Harness 904.748s | Mean Wall 1026.788s | Mean Tokens 1,417,474.0 (1/16 complete) | Mean Raw Harness 905.505s | Mean Raw Wall 1027.545s
+[Batch] GPU 5 finished ReorientRedMugTask/1: SUCCESS | Tasks 4/20 | Episodes 17/60 | Success 100.00% (17/17) | Mean Harness 879.271s | Mean Wall 996.739s | Mean Tokens 1,475,147.0 (2/17 complete) | Mean Raw Harness 879.983s | Mean Raw Wall 997.451s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 4/20 | Episodes 18/60 | Success 100.00% (18/18) | Mean Harness 888.555s | Mean Wall 1005.552s | Mean Tokens 1,475,147.0 (2/18 complete) | Mean Raw Harness 889.227s | Mean Raw Wall 1006.224s
+[Batch] GPU 6 finished MarkerInMugTask/2: SUCCESS | Tasks 5/20 | Episodes 19/60 | Success 100.00% (19/19) | Mean Harness 901.925s | Mean Wall 1022.735s | Mean Tokens 1,475,147.0 (2/19 complete) | Mean Raw Harness 902.562s | Mean Raw Wall 1023.372s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 5/20 | Episodes 20/60 | Success 100.00% (20/20) | Mean Harness 873.036s | Mean Wall 989.867s | Mean Tokens 1,435,832.0 (3/20 complete) | Mean Raw Harness 873.641s | Mean Raw Wall 990.472s
+[Batch] GPU 4 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 6/20 | Episodes 21/60 | Success 100.00% (21/21) | Mean Harness 849.636s | Mean Wall 962.869s | Mean Tokens 1,418,832.0 (4/21 complete) | Mean Raw Harness 850.213s | Mean Raw Wall 963.445s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 6/20 | Episodes 22/60 | Success 100.00% (22/22) | Mean Harness 839.944s | Mean Wall 955.397s | Mean Tokens 1,418,832.0 (4/22 complete) | Mean Raw Harness 840.495s | Mean Raw Wall 955.947s
+[Batch] GPU 6 finished SpoonInMugTask/0: SUCCESS | Tasks 6/20 | Episodes 23/60 | Success 100.00% (23/23) | Mean Harness 841.222s | Mean Wall 957.968s | Mean Tokens 1,418,832.0 (4/23 complete) | Mean Raw Harness 841.749s | Mean Raw Wall 958.495s
+[Batch] GPU 6 finished SpoonInMugTask/1: SUCCESS | Tasks 6/20 | Episodes 24/60 | Success 100.00% (24/24) | Mean Harness 822.221s | Mean Wall 937.050s | Mean Tokens 1,422,236.2 (5/24 complete) | Mean Raw Harness 822.726s | Mean Raw Wall 937.554s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: FAILURE | Tasks 6/20 | Episodes 25/60 | Success 96.00% (24/25) | Mean Harness 827.553s | Mean Wall 940.746s | Mean Tokens 1,422,236.2 (5/25 complete) | Mean Raw Harness 828.037s | Mean Raw Wall 941.231s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 7/20 | Episodes 26/60 | Success 96.15% (25/26) | Mean Harness 833.457s | Mean Wall 951.166s | Mean Tokens 1,422,236.2 (5/26 complete) | Mean Raw Harness 833.922s | Mean Raw Wall 951.632s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/0: SUCCESS | Tasks 7/20 | Episodes 27/60 | Success 96.30% (26/27) | Mean Harness 819.718s | Mean Wall 935.030s | Mean Tokens 1,492,905.2 (6/27 complete) | Mean Raw Harness 820.166s | Mean Raw Wall 935.479s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: FAILURE | Tasks 7/20 | Episodes 28/60 | Success 92.86% (26/28) | Mean Harness 825.309s | Mean Wall 939.262s | Mean Tokens 1,492,905.2 (6/28 complete) | Mean Raw Harness 825.742s | Mean Raw Wall 939.694s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: FAILURE | Tasks 8/20 | Episodes 29/60 | Success 89.66% (26/29) | Mean Harness 828.666s | Mean Wall 941.269s | Mean Tokens 1,492,905.2 (6/29 complete) | Mean Raw Harness 829.084s | Mean Raw Wall 941.687s
+[Batch] GPU 6 finished SpoonInMugTask/2: SUCCESS | Tasks 9/20 | Episodes 30/60 | Success 90.00% (27/30) | Mean Harness 811.265s | Mean Wall 921.953s | Mean Tokens 1,442,582.4 (7/30 complete) | Mean Raw Harness 811.668s | Mean Raw Wall 922.357s
+[Batch] GPU 6 finished ClampInRightBinTask/0: SUCCESS | Tasks 9/20 | Episodes 31/60 | Success 90.32% (28/31) | Mean Harness 805.881s | Mean Wall 915.629s | Mean Tokens 1,442,582.4 (7/31 complete) | Mean Raw Harness 806.272s | Mean Raw Wall 916.020s
+[Batch] GPU 6 finished ClampInRightBinTask/1: SUCCESS | Tasks 9/20 | Episodes 32/60 | Success 90.62% (29/32) | Mean Harness 800.438s | Mean Wall 909.097s | Mean Tokens 1,442,582.4 (7/32 complete) | Mean Raw Harness 800.816s | Mean Raw Wall 909.475s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/1: SUCCESS | Tasks 9/20 | Episodes 33/60 | Success 90.91% (30/33) | Mean Harness 801.689s | Mean Wall 909.511s | Mean Tokens 1,442,582.4 (7/33 complete) | Mean Raw Harness 802.055s | Mean Raw Wall 909.878s
+[Batch] GPU 6 finished ClampInRightBinTask/2: SUCCESS | Tasks 10/20 | Episodes 34/60 | Success 91.18% (31/34) | Mean Harness 796.853s | Mean Wall 903.532s | Mean Tokens 1,442,582.4 (7/34 complete) | Mean Raw Harness 797.209s | Mean Raw Wall 903.888s
+[Batch] GPU 7 finished ReorientWhiteMugsTask/2: SUCCESS | Tasks 11/20 | Episodes 35/60 | Success 91.43% (32/35) | Mean Harness 784.372s | Mean Wall 889.161s | Mean Tokens 1,434,244.6 (8/35 complete) | Mean Raw Harness 784.718s | Mean Raw Wall 889.507s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 11/20 | Episodes 36/60 | Success 91.67% (33/36) | Mean Harness 781.139s | Mean Wall 884.744s | Mean Tokens 1,521,279.8 (9/36 complete) | Mean Raw Harness 785.430s | Mean Raw Wall 889.035s
+[Batch] GPU 5 finished ReorientRedMugTask/2: SUCCESS | Tasks 12/20 | Episodes 37/60 | Success 91.89% (34/37) | Mean Harness 770.603s | Mean Wall 872.568s | Mean Tokens 1,521,279.8 (9/37 complete) | Mean Raw Harness 774.778s | Mean Raw Wall 876.742s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 12/20 | Episodes 38/60 | Success 92.11% (35/38) | Mean Harness 764.970s | Mean Wall 865.665s | Mean Tokens 1,590,796.3 (10/38 complete) | Mean Raw Harness 769.035s | Mean Raw Wall 869.730s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 12/20 | Episodes 39/60 | Success 92.31% (36/39) | Mean Harness 769.120s | Mean Wall 869.365s | Mean Tokens 1,590,796.3 (10/39 complete) | Mean Raw Harness 773.080s | Mean Raw Wall 873.325s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 12/20 | Episodes 40/60 | Success 92.50% (37/40) | Mean Harness 781.355s | Mean Wall 882.183s | Mean Tokens 1,590,796.3 (10/40 complete) | Mean Raw Harness 785.217s | Mean Raw Wall 886.045s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 92.68% (38/41) | Mean Harness 771.819s | Mean Wall 871.269s | Mean Tokens 1,590,796.3 (10/41 complete) | Mean Raw Harness 775.587s | Mean Raw Wall 875.036s
+[Batch] GPU 5 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 14/20 | Episodes 42/60 | Success 92.86% (39/42) | Mean Harness 772.325s | Mean Wall 871.252s | Mean Tokens 1,590,796.3 (10/42 complete) | Mean Raw Harness 776.002s | Mean Raw Wall 874.929s
+[Batch] GPU 5 finished FoodPacking1CansTask/0: SUCCESS | Tasks 14/20 | Episodes 43/60 | Success 93.02% (40/43) | Mean Harness 758.939s | Mean Wall 856.011s | Mean Tokens 1,530,664.0 (11/43 complete) | Mean Raw Harness 762.531s | Mean Raw Wall 859.603s
+[Batch] GPU 5 finished FoodPacking1CansTask/1: SUCCESS | Tasks 14/20 | Episodes 44/60 | Success 93.18% (41/44) | Mean Harness 745.848s | Mean Wall 841.115s | Mean Tokens 1,471,997.4 (12/44 complete) | Mean Raw Harness 749.358s | Mean Raw Wall 844.626s
+[Batch] GPU 7 finished RedItemsInBinTask/0: SUCCESS | Tasks 14/20 | Episodes 45/60 | Success 93.33% (42/45) | Mean Harness 750.013s | Mean Wall 845.134s | Mean Tokens 1,471,997.4 (12/45 complete) | Mean Raw Harness 753.446s | Mean Raw Wall 848.567s
+[Batch] GPU 5 finished FoodPacking1CansTask/2: SUCCESS | Tasks 15/20 | Episodes 46/60 | Success 93.48% (43/46) | Mean Harness 746.899s | Mean Wall 841.394s | Mean Tokens 1,471,997.4 (12/46 complete) | Mean Raw Harness 750.257s | Mean Raw Wall 844.752s
+[Batch] GPU 7 finished RedItemsInBinTask/1: SUCCESS | Tasks 15/20 | Episodes 47/60 | Success 93.62% (44/47) | Mean Harness 743.888s | Mean Wall 837.612s | Mean Tokens 1,471,997.4 (12/47 complete) | Mean Raw Harness 747.175s | Mean Raw Wall 840.899s
+[Batch] GPU 7 finished RedItemsInBinTask/2: SUCCESS | Tasks 16/20 | Episodes 48/60 | Success 93.75% (45/48) | Mean Harness 742.950s | Mean Wall 836.209s | Mean Tokens 1,471,997.4 (12/48 complete) | Mean Raw Harness 746.168s | Mean Raw Wall 839.427s
+[Batch] GPU 7 finished MustardInLeftBinTask/0: SUCCESS | Tasks 16/20 | Episodes 49/60 | Success 93.88% (46/49) | Mean Harness 731.461s | Mean Wall 823.240s | Mean Tokens 1,418,992.8 (13/49 complete) | Mean Raw Harness 734.613s | Mean Raw Wall 826.393s
+[Batch] GPU 7 finished MustardInLeftBinTask/1: FAILURE | Tasks 16/20 | Episodes 50/60 | Success 92.00% (46/50) | Mean Harness 737.100s | Mean Wall 829.198s | Mean Tokens 1,418,992.8 (13/50 complete) | Mean Raw Harness 740.256s | Mean Raw Wall 832.354s
+[Batch] GPU 7 finished MustardInLeftBinTask/2: SUCCESS | Tasks 17/20 | Episodes 51/60 | Success 92.16% (47/51) | Mean Harness 726.106s | Mean Wall 816.736s | Mean Tokens 1,381,813.4 (14/51 complete) | Mean Raw Harness 729.200s | Mean Raw Wall 819.830s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/0: FAILURE | Tasks 17/20 | Episodes 52/60 | Success 90.38% (47/52) | Mean Harness 723.878s | Mean Wall 817.266s | Mean Tokens 1,478,604.9 (15/52 complete) | Mean Raw Harness 727.014s | Mean Raw Wall 820.403s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/1: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 90.57% (48/53) | Mean Harness 715.023s | Mean Wall 807.201s | Mean Tokens 1,432,199.5 (16/53 complete) | Mean Raw Harness 718.100s | Mean Raw Wall 810.278s
+[Batch] GPU 6 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 18/20 | Episodes 54/60 | Success 88.89% (48/54) | Mean Harness 726.023s | Mean Wall 820.866s | Mean Tokens 1,432,199.5 (16/54 complete) | Mean Raw Harness 729.461s | Mean Raw Wall 824.303s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 89.09% (49/55) | Mean Harness 722.285s | Mean Wall 816.304s | Mean Tokens 1,432,199.5 (16/55 complete) | Mean Raw Harness 725.660s | Mean Raw Wall 819.679s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 89.29% (50/56) | Mean Harness 722.249s | Mean Wall 815.995s | Mean Tokens 1,432,199.5 (16/56 complete) | Mean Raw Harness 725.564s | Mean Raw Wall 819.310s
+[Batch] GPU 6 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 89.47% (51/57) | Mean Harness 728.452s | Mean Wall 822.439s | Mean Tokens 1,432,199.5 (16/57 complete) | Mean Raw Harness 731.709s | Mean Raw Wall 825.696s
+[Batch] GPU 6 finished BananaInBowlTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 89.66% (52/58) | Mean Harness 722.402s | Mean Wall 815.367s | Mean Tokens 1,441,696.2 (17/58 complete) | Mean Raw Harness 725.602s | Mean Raw Wall 818.568s
+[Batch] GPU 6 finished BananaInBowlTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 89.83% (53/59) | Mean Harness 716.182s | Mean Wall 808.091s | Mean Tokens 1,441,391.8 (18/59 complete) | Mean Raw Harness 719.329s | Mean Raw Wall 811.237s
+[Batch] GPU 6 finished BananaInBowlTask/2: SUCCESS | Tasks 20/20 | Episodes 60/60 | Success 90.00% (54/60) | Mean Harness 710.032s | Mean Wall 800.890s | Mean Tokens 1,437,022.3 (19/60 complete) | Mean Raw Harness 713.126s | Mean Raw Wall 803.984s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 90.00% (54/60) | Mean Harness 710.032s | Mean Wall 800.890s | Mean Tokens 1,437,022.3 (19/60 complete) | Mean Raw Harness 713.126s | Mean Raw Wall 803.984s
diff --git a/harness_robolab_exploration/embo_joint_abs/assignments.tsv b/harness_robolab_exploration/embo_joint_abs/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..e7f384d16b9b9750d21f804612ec48b802682188
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/assignments.tsv
@@ -0,0 +1,3 @@
+gpu	port	estimated_seconds	tasks
+6	8040	27248.771	PlasticBottlesInSquarePailTask ReorientWhiteMugsTask BlockStackingSpecifiedOrderTask ClampInRightBinTask OneBottleInSquarePailTask RedItemsInBinTask BananaThenRubiksCubeTask MustardInLeftBinTask BowlStackingRightOnLeftTask
+7	8041	28303.335	FruitsOnionToPlateTask MarkerInMugTask SmallPumpkinInBinTask SpoonInMugTask TakeSpatulaOffShelfTask ReorientRedMugTask FoodPacking1BoxesTask BananasInBinThreeTotalTask RubiksCubeThenBananaTask FoodPacking1CansTask BananaInBowlTask
diff --git a/harness_robolab_exploration/embo_joint_abs/batch_manifest.json b/harness_robolab_exploration/embo_joint_abs/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4b710fe6bac7b0e11030a0fb0198ad65989893
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/batch_manifest.json
@@ -0,0 +1,36 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        6,
+        7
+      ],
+      "path": "."
+    }
+  ],
+  "runs": 3,
+  "schema_version": 1,
+  "task_costs": {
+    "BananaInBowlTask": 425.86899999999997,
+    "BananaThenRubiksCubeTask": 719.5473000000001,
+    "BananasInBinThreeTotalTask": 589.033,
+    "BlockStackingSpecifiedOrderTask": 905.3386,
+    "BowlStackingRightOnLeftTask": 451.9177,
+    "ClampInRightBinTask": 888.4855,
+    "FoodPacking1BoxesTask": 721.0428,
+    "FoodPacking1CansTask": 467.5319,
+    "FruitsOnionToPlateTask": 1483.3265,
+    "MarkerInMugTask": 1356.3095,
+    "MustardInLeftBinTask": 503.56759999999997,
+    "OneBottleInSquarePailTask": 783.6646,
+    "PlasticBottlesInSquarePailTask": 2974.0027,
+    "RedItemsInBinTask": 766.2022,
+    "ReorientRedMugTask": 869.2076999999999,
+    "ReorientWhiteMugsTask": 1090.1975,
+    "RubiksCubeThenBananaTask": 522.5474,
+    "SmallPumpkinInBinTask": 1174.1926,
+    "SpoonInMugTask": 935.4904,
+    "TakeSpatulaOffShelfTask": 889.8943
+  },
+  "task_set": "sub"
+}
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/client.log b/harness_robolab_exploration/embo_joint_abs/gpu_6/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..8033505c8c351e09e4a76e2e1f3cdb5bfe09a1c2
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/client.log
@@ -0,0 +1,1600 @@
+[2026-10-28T14:35:03Z] GPU 6: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:6
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261028_143508.log
+2026-10-28T14:35:08Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-28T14:35:13Z [5,079ms] [Warning] [carb.omniclient.plugin]  1518381: OmniHub: ThreadId(03) Hub encountered error. Trying to reconnect to Hub. retry_reason="Hub failed to launch: Io(\"Resource temporarily unavailable (os error 11)\")"
+2026-10-28T14:35:14Z [5,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:14Z [5,481ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:14Z [5,559ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-28T14:35:15Z [7,051ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:15Z [7,053ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:15Z [7,055ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 714929
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-28T14:35:18Z [10,069ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-28T14:35:18Z [10,070ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 897.54  12.35   9.70  11.75  12.65   5.78  13.14  14.52 
+     1  19.78 921.83  22.18  18.34  16.93  15.14   2.70   2.33 
+     2   9.83   8.91 912.14   8.85   2.15   2.03   7.66   7.95 
+     3   8.26   8.64   8.28 912.68  12.36  11.53   2.64   1.97 
+     4   7.72   8.58   8.70   8.57 912.86   8.43   8.90   8.07 
+     5   8.29   8.09   9.55   6.23   9.26 923.09   4.32  15.79 
+     6   9.17   9.03  16.42  17.24  16.36  16.18 925.10   5.96 
+     7  10.74  19.20  19.13  19.18  17.09  18.11  18.17 938.95 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.54  15.61  14.24  12.48  12.94  13.73  13.52  11.59 
+     1  13.91   1.50  14.58  11.35  11.25  14.76  13.87  15.49 
+     2  11.34  11.81   1.54  14.31  14.43  12.47  12.30  12.10 
+     3  14.44  14.34  11.25   1.48  13.26  11.32  11.31  19.90 
+     4  11.50  11.50  11.42  11.30   1.43  11.50  11.33  11.36 
+     5  11.42  11.32  11.31  15.93  11.27   1.42  11.35  11.51 
+     6  11.33  11.41  11.51  11.51  11.34  11.31   1.41  11.34 
+     7  11.33  11.35  11.34  16.05  11.43  11.26  11.51   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.34  10.63   9.70   9.55   9.07   8.59   9.63  11.30 
+     1  11.54   2.92   8.93   8.82   8.23   8.03   8.42   8.39 
+     2   9.40   8.97   2.76   8.89   8.23   8.00   8.72   8.18 
+     3   9.64   9.08   9.09   3.37   8.44   8.62   8.41  11.05 
+     4   8.91  10.63   8.63   8.71   2.62   7.81   7.82   7.68 
+     5   8.59   8.40   8.47   8.57   9.37   3.40   8.19   7.66 
+     6   9.20   9.64   9.44   8.69   8.06   7.87   2.60   8.85 
+     7  10.47   8.30   9.11   8.36   8.31   7.67   7.75   2.52 
+2026-10-28T14:35:25Z [16,599ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.0 GB/s.
+2026-10-28T14:35:25Z [16,599ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.9 us.
+2026-10-28T14:35:25Z [16,600ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-28T14:35:28Z [19,710ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,710ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,789ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,789ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,800ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,800ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,964ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,964ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,969ms] [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)
+2026-10-28T14:35:28Z [19,975ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,975ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:29Z [20,908ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-28T14:35:33Z [24,319ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-28T14:35:43Z [35,013ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-28T14:35:44Z [36,074ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-28T14:35:59Z [50,720ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-28T14:35:59Z [50,723ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [51,099ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-28T14:36:04Z [55,498ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,499ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,501ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:04Z [55,513ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-10-28T14:36:04Z [55,527ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,527ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 9 task(s): ['PlasticBottlesInSquarePailTask', 'ReorientWhiteMugsTask', 'BlockStackingSpecifiedOrderTask', 'ClampInRightBinTask', 'OneBottleInSquarePailTask', 'RedItemsInBinTask', 'BananaThenRubiksCubeTask', 'MustardInLeftBinTask', 'BowlStackingRightOnLeftTask']
+2026-10-28T14:36:19Z [70,292ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5614b1fc2600>)
+
+2026-10-28T14:36:19Z [70,293ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5614b1fc2600>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 9
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T14:36:24Z [75,372ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.417745 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T14:36:29Z [80,411ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:29Z [80,411ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:29Z [80,446ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:29Z [80,446ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:29Z [80,458ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:29Z [80,464ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T14:36:29Z [80,664ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:29Z [80,694ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:30Z [81,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((16))' not available in the MDL representation.
+2026-10-28T14:36:30Z [81,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((16))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,623ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,623ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,897ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,898ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,905ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-10-28T14:36:35Z [86,905ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-10-28T14:36:36Z [87,517ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-28T14:36:36Z [87,517ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-10-28T14:36:36Z [88,159ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-28T14:36:36Z [88,159ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,292ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,292ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,303ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,303ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,395ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,395ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,408ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,409ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,431ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,431ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,643ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,643ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,645ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,646ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,661ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,661ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,722ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,722ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,748ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,748ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,913ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((253))' not available in the MDL representation.
+2026-10-28T14:36:37Z [88,913ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((253))' not available in the MDL representation.
+2026-10-28T14:36:39Z [90,554ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((269))' not available in the MDL representation.
+2026-10-28T14:36:39Z [90,554ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((269))' not available in the MDL representation.
+2026-10-28T14:36:39Z [91,064ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-28T14:36:40Z [91,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,447ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,448ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((178))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,452ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((253))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((253))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.765217 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : PlasticBottlesInSquarePailTask                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the small plastic bottles in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : PlasticBottlesInSquarePailTaskSceneEnvCfg     │
+│  Attributes  : semantics, sorting, size, complex             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json.
+PlasticBottlesInSquarePailTask_0 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.12223299167137, 'joint_sparc_mean': -25.79530164446362, 'ee_isj': 12502.714529264438, 'joint_isj': 469320.5403723215, 'ee_path_length': 21.61635072343552, 'joint_rmse_mean': 1.685166444726082, 'ee_speed_max': 0.9459329843521118, 'ee_speed_mean': 0.11494631320238113}, events: {'GRIPPER_FULLY_CLOSED': 28, 'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 19, 'WRONG_OBJECT_GRABBED': 13, 'GRIPPER_HIT_TABLE': 3, 'OBJECT_OUT_OF_SCENE': 1, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 3094.308, 'policy_inference_avg_ms': 1146.0, 'env_step_s': 829.809, 'env_step_avg_ms': 307.3, 'video_write_s': 27.82, 'video_write_avg_ms': 10.3, 'wall_total_s': 3951.936, 'it_per_sec': 0.68}, score: 0.0, reason: Conditions not satisfied: object_grabbed(object=whitepackerbottle_a01) (step 1/2); object_grabbed(object=whitepackerbottle_a02) (step 1/2); object_grabbed(object=whitepackerbottle_a03) (step 1/2), harness_episode_id: a64858dd48734116b52a5e66b5580f9e-0
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json.
+PlasticBottlesInSquarePailTask_1 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -18.245072064264818, 'joint_sparc_mean': -24.641450401951175, 'ee_isj': 23735.093619771636, 'joint_isj': 1843727.7766374585, 'ee_path_length': 10.927015513202694, 'joint_rmse_mean': 1.861974389955347, 'ee_speed_max': 2.910855293273926, 'ee_speed_mean': 0.05843251943588257}, events: {'GRIPPER_FULLY_CLOSED': 6, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['large_storage_rack', 'large_storage_rack', 'large_storage_rack', 'squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 1472.042, 'policy_inference_avg_ms': 545.2, 'env_step_s': 808.544, 'env_step_avg_ms': 299.5, 'video_write_s': 25.31, 'video_write_avg_ms': 9.4, 'wall_total_s': 2305.896, 'it_per_sec': 1.17}, score: 0.6666666865348816, reason: Condition not satisfied: object_grabbed(object=whitepackerbottle_a02) (step 1/2), harness_episode_id: c1ac6e11d9174cffa533689ee7068aea-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json.
+PlasticBottlesInSquarePailTask_2 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: True, episode_step: 721, duration: 48.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.338591112349578, 'joint_sparc_mean': -8.273560917079028, 'ee_isj': 1390.60831854766, 'joint_isj': 17102.739402962634, 'ee_path_length': 5.4012807903692766, 'joint_rmse_mean': 1.6829602899935998, 'ee_speed_max': 0.3449142873287201, 'ee_speed_mean': 0.10557336360216141}, events: {'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 6}, instruction_type: default, timing: {'policy_inference_s': 798.69, 'policy_inference_avg_ms': 1107.8, 'env_step_s': 218.832, 'env_step_avg_ms': 303.5, 'video_write_s': 6.724, 'video_write_avg_ms': 9.3, 'wall_total_s': 1024.246, 'it_per_sec': 0.7}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 64b96ee7e48f42569bbe2d64cacda375-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T16:39:08Z [7,439,407ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.232474 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T16:39:12Z [7,443,826ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:39:12Z [7,443,826ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:39:12Z [7,443,894ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:39:12Z [7,443,894ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:39:12Z [7,443,972ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:39:12Z [7,444,038ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T16:39:12Z [7,444,067ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T16:39:13Z [7,444,504ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,444,504ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,444,521ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,444,521ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,444,902ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,444,903ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,445,188ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-10-28T16:39:13Z [7,445,188ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-10-28T16:39:14Z [7,445,391ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-28T16:39:14Z [7,445,392ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-28T16:39:14Z [7,445,418ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((461))' not available in the MDL representation.
+2026-10-28T16:39:14Z [7,445,418ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((461))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,465ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,466ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,467ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,467ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,468ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,468ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,470ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,470ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,472ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,472ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((448))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,473ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((461))' not available in the MDL representation.
+2026-10-28T16:39:15Z [7,446,473ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((461))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.950263 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.271489902505547, 'joint_sparc_mean': -10.230084308645738, 'ee_isj': 1312.2759402490228, 'joint_isj': 35821.61930115195, 'ee_path_length': 5.572475313949551, 'joint_rmse_mean': 1.4575144396107327, 'ee_speed_max': 0.40284013748168945, 'ee_speed_mean': 0.08915603160858154}, events: {'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 4, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 12, 'GRIPPER_HIT_TABLE': 2, 'wrong_objects_grabbed': ['ceramic_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1189.568, 'policy_inference_avg_ms': 1321.7, 'env_step_s': 245.341, 'env_step_avg_ms': 272.6, 'video_write_s': 9.194, 'video_write_avg_ms': 10.2, 'wall_total_s': 1444.103, 'it_per_sec': 0.62}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 235c768b4e3d4ca5b5721ac8290bb6d8-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.783093519913047, 'joint_sparc_mean': -9.896359043140547, 'ee_isj': 1779.8941101374282, 'joint_isj': 54726.524644561105, 'ee_path_length': 6.151800648989593, 'joint_rmse_mean': 1.5503588615861035, 'ee_speed_max': 0.5999615788459778, 'ee_speed_mean': 0.09733070433139801}, events: {'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_FULLY_CLOSED': 10, 'OBJECT_BUMPED': 3, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'wrong_objects_grabbed': ['upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1095.446, 'policy_inference_avg_ms': 1217.2, 'env_step_s': 245.386, 'env_step_avg_ms': 272.7, 'video_write_s': 8.298, 'video_write_avg_ms': 9.2, 'wall_total_s': 1349.131, 'it_per_sec': 0.67}, score: 1.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: b86cd5135b8041cfb742512b7f5be741-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.355249566491448, 'joint_sparc_mean': -10.57400001921081, 'ee_isj': 1847.0902740827028, 'joint_isj': 50161.70052163672, 'ee_path_length': 5.725380007911993, 'joint_rmse_mean': 1.5070713931499415, 'ee_speed_max': 0.8282586336135864, 'ee_speed_mean': 0.0929374098777771}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 6, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1204.466, 'policy_inference_avg_ms': 1338.3, 'env_step_s': 242.511, 'env_step_avg_ms': 269.5, 'video_write_s': 7.9, 'video_write_avg_ms': 8.8, 'wall_total_s': 1454.877, 'it_per_sec': 0.62}, score: 1.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 14e837818db146f19cf0cc4aa1c13ff1-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T17:51:03Z [11,755,007ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.211849 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T17:51:08Z [11,759,396ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T17:51:08Z [11,759,509ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:51:08Z [11,759,509ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:51:08Z [11,759,518ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:51:08Z [11,759,518ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:51:08Z [11,759,525ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:51:08Z [11,759,532ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+[INFO]: Time taken for simulation start : 6.888444 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BlockStackingSpecifiedOrderTask               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BlockStackingSpecifiedOrderTaskSceneEnvCfg    │
+│  Attributes  : stacking, color, complex                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json.
+BlockStackingSpecifiedOrderTask_0 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 630, duration: 42.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.889340319619354, 'joint_sparc_mean': -8.350599020410574, 'ee_isj': 709.0850201445194, 'joint_isj': 10274.881400969503, 'ee_path_length': 3.6455871143799734, 'joint_rmse_mean': 1.6857937705909942, 'ee_speed_max': 0.3365495204925537, 'ee_speed_mean': 0.08306079357862473}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 3, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 6, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'green_block', 'blue_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 540.239, 'policy_inference_avg_ms': 857.5, 'env_step_s': 134.071, 'env_step_avg_ms': 212.8, 'video_write_s': 5.656, 'video_write_avg_ms': 9.0, 'wall_total_s': 679.966, 'it_per_sec': 0.93}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 91cf2252395447519939203eb3e05b2e-0
+[RoboLab] Running BlockStackingSpecifiedOrderTask_1: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json.
+BlockStackingSpecifiedOrderTask_1 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 1261, duration: 84.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.720032639656368, 'joint_sparc_mean': -8.804154276064136, 'ee_isj': 1592.7936467226225, 'joint_isj': 22293.344903092027, 'ee_path_length': 7.573211128003933, 'joint_rmse_mean': 1.6064389304478903, 'ee_speed_max': 0.3610181212425232, 'ee_speed_mean': 0.0867946445941925}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_OBJECT': 4, 'WRONG_OBJECT_GRABBED': 10, 'OBJECT_BUMPED': 10, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'blue_block', 'blue_block', 'red_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 2032.926, 'policy_inference_avg_ms': 1612.2, 'env_step_s': 264.77, 'env_step_avg_ms': 210.0, 'video_write_s': 10.433, 'video_write_avg_ms': 8.3, 'wall_total_s': 2308.129, 'it_per_sec': 0.55}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 29544dd0fca745998991ac48c5089314-1
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json.
+BlockStackingSpecifiedOrderTask_2 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: False, episode_step: 1350, duration: 90.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.775728532389522, 'joint_sparc_mean': -11.140276933344179, 'ee_isj': 1847.1184131239938, 'joint_isj': 45851.20337489475, 'ee_path_length': 7.262242312810681, 'joint_rmse_mean': 1.788326388806121, 'ee_speed_max': 0.4639393091201782, 'ee_speed_mean': 0.0770554170012474}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2, 'WRONG_OBJECT_GRABBED': 10, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 15, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'blue_block', 'blue_block', 'blue_block', 'green_block', 'green_block', 'red_block', 'red_block', 'green_block']}, instruction_type: default, timing: {'policy_inference_s': 1473.838, 'policy_inference_avg_ms': 1091.7, 'env_step_s': 280.944, 'env_step_avg_ms': 208.1, 'video_write_s': 11.482, 'video_write_avg_ms': 8.5, 'wall_total_s': 1766.264, 'it_per_sec': 0.76}, score: 0.6600000262260437, reason: Condition not satisfied: stacked(objects=['green_block', 'yellow_block'], order=bottom_to_top) (step 1/1), harness_episode_id: d596ac67957e4122a74b0d4c7a635600-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T19:11:50Z [16,601,511ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.221622 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T19:11:54Z [16,606,046ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:11:54Z [16,606,047ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:11:54Z [16,606,056ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:11:54Z [16,606,056ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:11:54Z [16,606,064ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:11:54Z [16,606,071ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T19:11:55Z [16,606,538ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((841))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,538ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((841))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,582ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((859))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,582ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((859))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((867))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((867))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,850ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,606,850ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,607,087ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,607,087ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,607,127ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation.
+2026-10-28T19:11:55Z [16,607,127ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,361ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,361ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((967))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,375ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((967))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,602ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((994))' not available in the MDL representation.
+2026-10-28T19:11:56Z [16,607,602ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((994))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,372ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((859))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((859))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((867))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,374ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((867))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,376ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,376ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((883))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,378ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,378ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((912))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,380ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,380ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((932))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,383ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((994))' not available in the MDL representation.
+2026-10-28T19:11:57Z [16,608,383ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((994))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.758317 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.86413507768154, 'joint_sparc_mean': -10.632567291140136, 'ee_isj': 1130.9655229178968, 'joint_isj': 65070.82944243381, 'ee_path_length': 4.838416320267709, 'joint_rmse_mean': 1.7876734686780267, 'ee_speed_max': 0.3356461226940155, 'ee_speed_mean': 0.07964657247066498}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 7, 'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 10}, instruction_type: default, timing: {'policy_inference_s': 1060.858, 'policy_inference_avg_ms': 1178.7, 'env_step_s': 224.446, 'env_step_avg_ms': 249.4, 'video_write_s': 8.241, 'video_write_avg_ms': 9.2, 'wall_total_s': 1293.545, 'it_per_sec': 0.7}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 90c23450d7954d92a22a5a4eacb35b55-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.247627141965987, 'joint_sparc_mean': -10.445218743372346, 'ee_isj': 771.5277955484956, 'joint_isj': 50186.19088850918, 'ee_path_length': 4.065773210979208, 'joint_rmse_mean': 1.6318022356419704, 'ee_speed_max': 0.30738288164138794, 'ee_speed_mean': 0.06665408611297607}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 14}, instruction_type: default, timing: {'policy_inference_s': 916.748, 'policy_inference_avg_ms': 1018.6, 'env_step_s': 222.293, 'env_step_avg_ms': 247.0, 'video_write_s': 8.777, 'video_write_avg_ms': 9.8, 'wall_total_s': 1147.818, 'it_per_sec': 0.78}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 95207dffe0de41f3b35f22330fb3da85-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: True, episode_step: 736, duration: 49.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.98694460411868, 'joint_sparc_mean': -10.879206222880297, 'ee_isj': 662.5849901359463, 'joint_isj': 29546.67379655345, 'ee_path_length': 3.6996880644381367, 'joint_rmse_mean': 1.7790297419991468, 'ee_speed_max': 0.2603883147239685, 'ee_speed_mean': 0.07387278228998184}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 11}, instruction_type: default, timing: {'policy_inference_s': 632.211, 'policy_inference_avg_ms': 859.0, 'env_step_s': 183.727, 'env_step_avg_ms': 249.6, 'video_write_s': 6.316, 'video_write_avg_ms': 8.6, 'wall_total_s': 822.253, 'it_per_sec': 0.9}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9b70b6721d344026b0f78513ba16d5b6-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:07:21Z [19,932,891ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.231346 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:07:23Z [19,935,247ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:07:23Z [19,935,247ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:07:23Z [19,935,256ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:07:23Z [19,935,256ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:07:23Z [19,935,265ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:07:24Z [19,935,272ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:07:24Z [19,935,596ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((1096))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,596ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((1096))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,611ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((1104))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,611ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((1104))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,619ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,619ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1108))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((1122))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,652ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((1122))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,726ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((1160))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,726ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((1160))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,761ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1163))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1163))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1170))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1170))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,809ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((1171))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,809ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((1171))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,819ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,819ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,854ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((1190))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((1191))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,856ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((1191))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,864ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1193))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,864ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1193))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,872ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((1197))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,872ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((1197))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((1200))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,878ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((1200))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,921ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1219))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,921ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1219))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,988ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((1254))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,935,988ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((1254))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,936,045ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1274))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,936,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1274))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,936,085ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((1297))' not available in the MDL representation.
+2026-10-28T20:07:24Z [19,936,085ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((1297))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1163))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1163))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1170))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1170))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1174))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,675ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1193))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,676ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1193))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,677ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1219))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,678ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1219))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1274))' not available in the MDL representation.
+2026-10-28T20:07:25Z [19,936,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1274))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.672736 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : OneBottleInSquarePailTask                     │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put any white plastic bottle in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : OneBottleInSquarePailTaskSceneEnvCfg          │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_0_env0.json.
+OneBottleInSquarePailTask_0 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.202307067662538, 'joint_sparc_mean': -20.15772076659322, 'ee_isj': 1158.896148630796, 'joint_isj': 73328.4010346231, 'ee_path_length': 4.7561801790783695, 'joint_rmse_mean': 1.738648341305972, 'ee_speed_max': 0.3506428599357605, 'ee_speed_mean': 0.07577470690011978}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 12, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 890.727, 'policy_inference_avg_ms': 989.7, 'env_step_s': 272.514, 'env_step_avg_ms': 302.8, 'video_write_s': 8.947, 'video_write_avg_ms': 9.9, 'wall_total_s': 1172.188, 'it_per_sec': 0.77}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 792e36107748404b9453f5c74de64e1e-0
+[RoboLab] Running OneBottleInSquarePailTask_1: 'Put any white plastic bottle in the square pail' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_1_env0.json.
+OneBottleInSquarePailTask_1 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.740647053449579, 'joint_sparc_mean': -10.551414161120528, 'ee_isj': 3710.3312997164185, 'joint_isj': 163861.7431353868, 'ee_path_length': 8.828450571112874, 'joint_rmse_mean': 1.6019598561764583, 'ee_speed_max': 0.5967298746109009, 'ee_speed_mean': 0.14282943308353424}, events: {'GRIPPER_FULLY_CLOSED': 11, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 9, 'OBJECT_MOVED': 3, 'OBJECT_OUT_OF_SCENE': 2, 'GRIPPER_HIT_TABLE': 4, 'wrong_objects_grabbed': ['squarepail_a01', 'utilityjug_a02', 'squarepail_a01', 'squarepail_a01', 'utilityjug_a01', 'utilityjug_a01']}, instruction_type: default, timing: {'policy_inference_s': 1051.691, 'policy_inference_avg_ms': 1168.5, 'env_step_s': 279.481, 'env_step_avg_ms': 310.5, 'video_write_s': 8.166, 'video_write_avg_ms': 9.1, 'wall_total_s': 1339.337, 'it_per_sec': 0.67}, score: 0.0, reason: No object completed. Best progress: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: ed8a8cb10e9b4fb4a0a8100c20fc445d-1
+[RoboLab] Running OneBottleInSquarePailTask_2: 'Put any white plastic bottle in the square pail' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_2_env0.json.
+OneBottleInSquarePailTask_2 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 826, duration: 55.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.039225008115876, 'joint_sparc_mean': -10.64210580039464, 'ee_isj': 1648.8161827065128, 'joint_isj': 46242.253422646376, 'ee_path_length': 5.935579750038764, 'joint_rmse_mean': 1.606836722101415, 'ee_speed_max': 0.35475555062294006, 'ee_speed_mean': 0.10237392783164978}, events: {'GRIPPER_FULLY_CLOSED': 10, 'OBJECT_BUMPED': 5, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_TABLE': 4, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 790.005, 'policy_inference_avg_ms': 956.4, 'env_step_s': 245.849, 'env_step_avg_ms': 297.6, 'video_write_s': 7.371, 'video_write_avg_ms': 8.9, 'wall_total_s': 1043.225, 'it_per_sec': 0.79}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a463fb1f426043b9846a7efbb97b67a7-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:07:29Z [23,541,069ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.206034 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:07:33Z [23,545,246ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:07:33Z [23,545,246ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:07:33Z [23,545,254ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:07:33Z [23,545,255ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:07:33Z [23,545,264ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:07:33Z [23,545,271ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:07:34Z [23,545,793ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1373))' not available in the MDL representation.
+2026-10-28T21:07:34Z [23,545,794ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1373))' not available in the MDL representation.
+2026-10-28T21:07:34Z [23,546,105ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1426))' not available in the MDL representation.
+2026-10-28T21:07:34Z [23,546,106ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1426))' not available in the MDL representation.
+2026-10-28T21:07:35Z [23,546,353ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1449))' not available in the MDL representation.
+2026-10-28T21:07:35Z [23,546,353ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1449))' not available in the MDL representation.
+2026-10-28T21:07:35Z [23,546,385ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1469))' not available in the MDL representation.
+2026-10-28T21:07:35Z [23,546,385ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1469))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,658ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1373))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,659ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1373))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,666ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1426))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,666ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1426))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,669ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1449))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,669ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1449))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1469))' not available in the MDL representation.
+2026-10-28T21:07:36Z [23,547,671ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1469))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.501072 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 736, duration: 49.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.275439579353839, 'joint_sparc_mean': -9.318129367457454, 'ee_isj': 982.0710650329387, 'joint_isj': 28598.582558234724, 'ee_path_length': 4.836560102113239, 'joint_rmse_mean': 1.545201493633566, 'ee_speed_max': 0.5484361052513123, 'ee_speed_mean': 0.09538200497627258}, events: {'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 11}, instruction_type: default, timing: {'policy_inference_s': 489.843, 'policy_inference_avg_ms': 665.5, 'env_step_s': 167.188, 'env_step_avg_ms': 227.2, 'video_write_s': 5.842, 'video_write_avg_ms': 7.9, 'wall_total_s': 662.872, 'it_per_sec': 1.11}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 716e07af13fc471cb95d641277f1d2a5-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.805411826118993, 'joint_sparc_mean': -13.72672878716689, 'ee_isj': 1187.5634158057132, 'joint_isj': 18146.379852566388, 'ee_path_length': 5.385533652099667, 'joint_rmse_mean': 1.5513052231900808, 'ee_speed_max': 0.6976490616798401, 'ee_speed_mean': 0.0876699686050415}, events: {'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 4}, instruction_type: default, timing: {'policy_inference_s': 796.406, 'policy_inference_avg_ms': 884.9, 'env_step_s': 201.083, 'env_step_avg_ms': 223.4, 'video_write_s': 7.257, 'video_write_avg_ms': 8.1, 'wall_total_s': 1004.746, 'it_per_sec': 0.9}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=bowl) (step 1/2), harness_episode_id: c18b96f1b3354d73aeac06c671c0c09b-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 896, duration: 59.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.889858224496372, 'joint_sparc_mean': -10.620878721598256, 'ee_isj': 1252.3880439457807, 'joint_isj': 31328.874892087246, 'ee_path_length': 5.143085061783017, 'joint_rmse_mean': 1.7936451354111835, 'ee_speed_max': 0.6065840125083923, 'ee_speed_mean': 0.08304476737976074}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 437.841, 'policy_inference_avg_ms': 488.7, 'env_step_s': 201.463, 'env_step_avg_ms': 224.8, 'video_write_s': 7.149, 'video_write_avg_ms': 8.0, 'wall_total_s': 646.452, 'it_per_sec': 1.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 59c718e6d4b34c46b9cf95caeec5130e-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:46:56Z [25,907,651ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.202354 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:46:59Z [25,910,833ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:46:59Z [25,910,833ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:46:59Z [25,910,842ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:46:59Z [25,910,843ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:46:59Z [25,910,851ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:46:59Z [25,910,859ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:46:59Z [25,911,258ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1655))' not available in the MDL representation.
+2026-10-28T21:46:59Z [25,911,258ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1655))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,319ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1676))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,319ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1676))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,360ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1694))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,360ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1694))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,975ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1655))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,976ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1655))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,977ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1676))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,977ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1676))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1694))' not available in the MDL representation.
+2026-10-28T21:47:00Z [25,911,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1694))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.224400 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaThenRubiksCubeTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : put the banana then the cube in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaThenRubiksCubeTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_0_env0.json.
+BananaThenRubiksCubeTask_0 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_0, run: 0, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 708, duration: 47.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.838188494489941, 'joint_sparc_mean': -8.972179181609174, 'ee_isj': 398.9722544954675, 'joint_isj': 15340.276263390606, 'ee_path_length': 2.8196415857241828, 'joint_rmse_mean': 1.6941515809082743, 'ee_speed_max': 0.43274131417274475, 'ee_speed_mean': 0.056535571813583374}, events: {'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 719.135, 'policy_inference_avg_ms': 1015.7, 'env_step_s': 140.163, 'env_step_avg_ms': 198.0, 'video_write_s': 6.241, 'video_write_avg_ms': 8.8, 'wall_total_s': 865.539, 'it_per_sec': 0.82}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: e07a9556f5f342cb90657d89e7bdea04-0
+[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_1_env0.json.
+BananaThenRubiksCubeTask_1 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_1, run: 1, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.204791768550121, 'joint_sparc_mean': -15.299514442246954, 'ee_isj': 1114.7992487039119, 'joint_isj': 67125.04893159567, 'ee_path_length': 4.801303482695803, 'joint_rmse_mean': 1.6432255299431715, 'ee_speed_max': 0.36734187602996826, 'ee_speed_mean': 0.07800199836492538}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 8, 'GRIPPER_FULLY_CLOSED': 11, 'TARGET_OBJECT_DROPPED': 11, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['bowl']}, instruction_type: default, timing: {'policy_inference_s': 881.119, 'policy_inference_avg_ms': 979.0, 'env_step_s': 176.316, 'env_step_avg_ms': 195.9, 'video_write_s': 7.999, 'video_write_avg_ms': 8.9, 'wall_total_s': 1065.434, 'it_per_sec': 0.84}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=rubiks_cube) (step 1/2), harness_episode_id: 54975ad29735411fb0852ceb8068c4c1-1
+[RoboLab] Running BananaThenRubiksCubeTask_2: 'put the banana then the cube in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_2_env0.json.
+BananaThenRubiksCubeTask_2 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_2, run: 2, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 467, duration: 31.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.12671063818834, 'joint_sparc_mean': -6.918784449190229, 'ee_isj': 501.5633577185795, 'joint_isj': 9136.142768113154, 'ee_path_length': 2.6179135736383135, 'joint_rmse_mean': 1.7471898216869597, 'ee_speed_max': 0.25226113200187683, 'ee_speed_mean': 0.0793931782245636}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 6}, instruction_type: default, timing: {'policy_inference_s': 465.871, 'policy_inference_avg_ms': 997.6, 'env_step_s': 89.278, 'env_step_avg_ms': 191.2, 'video_write_s': 4.691, 'video_write_avg_ms': 10.0, 'wall_total_s': 559.839, 'it_per_sec': 0.83}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: edd0b7b65abf412d9a5dd583d2442440-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:29:34Z [28,465,463ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.193152 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:29:38Z [28,469,440ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:29:38Z [28,469,441ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:38Z [28,469,451ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:29:38Z [28,469,451ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:38Z [28,469,460ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:38Z [28,469,468ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:29:39Z [28,470,550ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1967))' not available in the MDL representation.
+2026-10-28T22:29:39Z [28,470,550ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1967))' not available in the MDL representation.
+2026-10-28T22:29:40Z [28,471,670ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1967))' not available in the MDL representation.
+2026-10-28T22:29:40Z [28,471,670ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1967))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.118312 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.120730250493848, 'joint_sparc_mean': -8.83402767050771, 'ee_isj': 459.43404096069355, 'joint_isj': 14548.360786842437, 'ee_path_length': 2.24171804483009, 'joint_rmse_mean': 1.5561981030908232, 'ee_speed_max': 0.3355172574520111, 'ee_speed_mean': 0.07136348634958267}, events: {'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 478.559, 'policy_inference_avg_ms': 1063.5, 'env_step_s': 83.902, 'env_step_avg_ms': 186.4, 'video_write_s': 4.054, 'video_write_avg_ms': 9.0, 'wall_total_s': 566.515, 'it_per_sec': 0.79}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: a61d9c71ba1f43baad0f39b835e88514-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.139138417180469, 'joint_sparc_mean': -6.712668928999126, 'ee_isj': 791.5860068374355, 'joint_isj': 55371.27822258748, 'ee_path_length': 3.0040999123500205, 'joint_rmse_mean': 1.4156926936405472, 'ee_speed_max': 0.5130527019500732, 'ee_speed_mean': 0.10108029097318649}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 447.891, 'policy_inference_avg_ms': 995.3, 'env_step_s': 88.653, 'env_step_avg_ms': 197.0, 'video_write_s': 4.936, 'video_write_avg_ms': 11.0, 'wall_total_s': 541.48, 'it_per_sec': 0.83}, score: 0.0, reason: Condition not satisfied: object_in_container(object=mustard, container=grey_bin_left, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: dec67bcc9b7240378726bdc292eeea5c-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.793541891078165, 'joint_sparc_mean': -9.676186018462785, 'ee_isj': 619.6545414399311, 'joint_isj': 34088.72229366534, 'ee_path_length': 2.580445267571836, 'joint_rmse_mean': 1.6521344919635719, 'ee_speed_max': 0.33396100997924805, 'ee_speed_mean': 0.08546132594347}, events: {'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_TABLE': 3}, instruction_type: default, timing: {'policy_inference_s': 490.89, 'policy_inference_avg_ms': 1090.9, 'env_step_s': 84.625, 'env_step_avg_ms': 188.1, 'video_write_s': 4.242, 'video_write_avg_ms': 9.4, 'wall_total_s': 579.757, 'it_per_sec': 0.78}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: bb0f76205e9943e7beb6271b4e55dc4b-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:58:26Z [30,197,394ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:6
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.184249 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:58:29Z [30,200,491ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:58:29Z [30,200,491ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:58:29Z [30,200,500ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:58:29Z [30,200,500ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:58:29Z [30,200,509ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:58:29Z [30,200,516ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:58:29Z [30,200,967ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2177))' not available in the MDL representation.
+2026-10-28T22:58:29Z [30,200,967ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2177))' not available in the MDL representation.
+2026-10-28T22:58:30Z [30,201,657ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2177))' not available in the MDL representation.
+2026-10-28T22:58:30Z [30,201,657ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2177))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.186661 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BowlStackingRightOnLeftTask                   │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the right bowl on the left bowl         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BowlStackingRightOnLeftTaskSceneEnvCfg        │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BowlStackingRightOnLeftTask/log_0_env0.json.
+BowlStackingRightOnLeftTask_0 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.164806048528364, 'joint_sparc_mean': -4.54530125525278, 'ee_isj': 549.7549497522957, 'joint_isj': 12421.530738496347, 'ee_path_length': 2.0967809449958463, 'joint_rmse_mean': 1.5945685465952788, 'ee_speed_max': 0.34429502487182617, 'ee_speed_mean': 0.10214607417583466}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'WRONG_OBJECT_GRABBED': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['bowl_1', 'bowl_1', 'bowl_1']}, instruction_type: default, timing: {'policy_inference_s': 310.976, 'policy_inference_avg_ms': 1036.6, 'env_step_s': 55.993, 'env_step_avg_ms': 186.6, 'video_write_s': 3.413, 'video_write_avg_ms': 11.4, 'wall_total_s': 370.382, 'it_per_sec': 0.81}, score: 0.0, reason: Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1), harness_episode_id: 23a6cb229f4048969f9ea2ae4fff3af4-0
+[RoboLab] Running BowlStackingRightOnLeftTask_1: 'Stack the right bowl on the left bowl' (run 1, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BowlStackingRightOnLeftTask/log_1_env0.json.
+BowlStackingRightOnLeftTask_1 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 256, duration: 17.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.11258354399831, 'joint_sparc_mean': -6.352466566572362, 'ee_isj': 233.70175542460527, 'joint_isj': 5816.180864034677, 'ee_path_length': 1.4762302639394935, 'joint_rmse_mean': 1.7450519281040322, 'ee_speed_max': 0.24128873646259308, 'ee_speed_mean': 0.08270637691020966}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['bowl_1']}, instruction_type: default, timing: {'policy_inference_s': 294.264, 'policy_inference_avg_ms': 1149.5, 'env_step_s': 45.969, 'env_step_avg_ms': 179.6, 'video_write_s': 3.035, 'video_write_avg_ms': 11.9, 'wall_total_s': 343.267, 'it_per_sec': 0.75}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 252d3482faf24b76ba0b3975f772bf28-1
+[RoboLab] Running BowlStackingRightOnLeftTask_2: 'Stack the right bowl on the left bowl' (run 2, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/robolab/BowlStackingRightOnLeftTask/log_2_env0.json.
+BowlStackingRightOnLeftTask_2 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 254, duration: 16.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.024714112180734, 'joint_sparc_mean': -6.028264278822874, 'ee_isj': 280.81806367449985, 'joint_isj': 9759.832171531783, 'ee_path_length': 1.4090946455057214, 'joint_rmse_mean': 1.7908391137053887, 'ee_speed_max': 0.23438328504562378, 'ee_speed_mean': 0.07888521999120712}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl_1', 'bowl_1']}, instruction_type: default, timing: {'policy_inference_s': 274.48, 'policy_inference_avg_ms': 1080.6, 'env_step_s': 45.41, 'env_step_avg_ms': 178.8, 'video_write_s': 2.721, 'video_write_avg_ms': 10.7, 'wall_total_s': 322.61, 'it_per_sec': 0.79}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: c8f4f0b8be544399bac4a2b79e7be500-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (9 tasks)                 11/27    40.7%   [24.5-59.4]    0.568        0.270       45.40   -7.48    5.35       8.7         0.81 18.9       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        2/3      66.7%   [19.4-93.2]    0.833        0.500       39.17   -5.72    3.41       7.1         0.83 13.8       
+BlockStackingSpecifiedOrderTask 2/3      66.7%   [19.4-93.2]    0.887        0.660       63.03   -6.80    6.16       8.2         0.75 26.4       
+BowlStackingRightOnLeftTask     2/3      66.7%   [19.4-93.2]    0.667        0.000       17.00   -4.77    1.66       8.8         0.78 5.8        
+ClampInRightBinTask             1/3      33.3%   [6.8-80.6]     0.333        0.000       49.07   -7.37    4.20       7.3         0.79 18.1       
+MustardInLeftBinTask            0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -5.68    2.61       8.6         0.80 9.4        
+OneBottleInSquarePailTask       1/3      33.3%   [6.8-80.6]     0.333        0.000       55.07   -6.66    6.51       10.7        0.74 19.7       
+PlasticBottlesInSquarePailTask  1/3      33.3%   [6.8-80.6]     0.556        0.333       48.07   -12.90   12.65      9.3         0.85 40.5       
+RedItemsInBinTask               2/3      66.7%   [19.4-93.2]    0.833        0.500       54.40   -8.66    5.12       8.9         1.13 12.9       
+ReorientWhiteMugsTask           0/3      0.0%    [0.6-60.2]     0.667        0.667       -       -8.80    5.82       9.3         0.64 23.6       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
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object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}, {"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8241bdab6eb771f1801928698c462c6e21286bf9
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 708, "events": [{"step": 110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 212, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 231, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 232, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 301, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.076m", "score": 0.5}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 387, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 517, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 517, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 518, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 525, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 602, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 605, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 605, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 608, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 608, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 706, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 706, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe0a0947424a0745a98579b8985d3f5b8574213
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 45, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 64, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 269, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 288, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 444, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 446, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 449, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 455, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 464, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 464, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 465, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 466, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 466, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 467, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 468, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 468, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 507, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 507, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 535, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 626, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 650, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.075m", "score": 0.0}, {"step": 709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.062m", "score": 0.0}, {"step": 738, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 773, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 775, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 775, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 856, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.5}, {"step": 856, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 869, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.185m", "score": 0.5}, {"step": 871, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.091m", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b5b3d9cdd74893be7681401bf6fd58420110f94
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BananaThenRubiksCubeTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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"object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, 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"slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "policies.harness_policy.hybrid_actions:HybridArmAction", "asset_name": "robot", "debug_vis": false, "clip": null, "pose": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 90, "rewards": {}, "terminations": {"time_out": {"func": 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"unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54559439ffc119e1bb30f2964352be16cada685
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 630, "events": [{"step": 59, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 219, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 219, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 236, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.082m", "score": 0.0}, {"step": 258, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.146m", "score": 0.0}, {"step": 295, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 301, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.104m", "score": 0.33}, {"step": 391, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 398, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.33}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.356m", "score": 0.33}, {"step": 466, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 479, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 481, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.075m", "score": 0.66}, {"step": 540, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 630, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.335m", "score": 1.0}, {"step": 630, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cffb401ecca24f374880853861157e4d86b10f39
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 1261, "events": [{"step": 73, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 77, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 447, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 449, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.215m", "score": 0.33}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 526, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 527, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 594, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 597, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.380m", "score": 0.66}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.055m", "score": 0.66}, {"step": 619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.119m", "score": 0.66}, {"step": 658, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.66}, {"step": 766, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 767, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 769, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 769, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.66}, {"step": 784, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.116m", "score": 0.66}, {"step": 799, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 803, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.096m", "score": 0.66}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 839, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.66}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.66}, {"step": 887, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.161m", "score": 0.66}, {"step": 974, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 976, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 977, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1009, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.241m", "score": 0.66}, {"step": 1021, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.66}, {"step": 1021, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.202m", "score": 0.66}, {"step": 1084, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1141, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 1141, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.099m", "score": 0.66}, {"step": 1201, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1201, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 1203, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.66}, {"step": 1206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 1261, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c70dccf4e4e6bcc032d771eaa694752b0b533828
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": false, "final_step": 1350, "events": [{"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 92, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 121, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 217, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 218, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.176m", "score": 0.33}, {"step": 226, 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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d596ffc252f913d6bfc26286bb29ba775f0e62fd
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ClampInRightBinTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/MustardInLeftBinTask/env_cfg.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/MustardInLeftBinTask/env_cfg.json
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"teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='whitepackerbottle_a03', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "any", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "OneBottleInSquarePailTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put any white plastic bottle in the square pail", "contact_object_list": ["squarepail_a01", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "plasticpail_a02", "whitepackerbottle_a03", "table", "large_storage_rack"], "_instruction_variants": {"default": "Put any white plastic bottle in the square pail", "vague": "Put a bottle in the square pail", "specific": "Pick up one of the three white plastic bottles and place it inside the square pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b62ae4d4d1bba103e96449dd4af3a46b343349d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 128, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 130, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 130, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 139, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 139, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 287, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 288, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 291, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 291, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 291, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 646, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 664, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 669, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 717, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 742, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 749, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 788, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 788, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 789, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 895, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aef1a69ad55101e07f4bf1ead86eaed5a77721b8
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 127, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.137m", "score": 0.0}, {"step": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.054m", "score": 0.0}, {"step": 249, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.156m", "score": 0.0}, {"step": 254, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 341, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 346, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.799m", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.367m", "score": 0.0}, {"step": 404, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a02'", "score": 0.0}, {"step": 406, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.058m", "score": 0.0}, {"step": 417, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.727m", "score": 0.0}, {"step": 427, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.095m", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 452, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 467, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.169m", "score": 0.0}, {"step": 482, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 484, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 538, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 558, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 559, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 565, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.051m", "score": 0.0}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 640, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 647, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 660, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 673, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.925m", "score": 0.0}, {"step": 695, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.091m", "score": 0.0}, {"step": 763, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 766, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 776, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 780, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 783, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 848, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c349ce397eee6838c96cd0f30b6e7f33750f62
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
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{}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7f12a65079c0>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7f12a68f7e20>, 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"contact_object_list": ["large_storage_rack", "whitepackerbottle_a01", "whitepackerbottle_a02", "utilityjug_a01", "utilityjug_a02", "squarepail_a01", "plasticpail_a02", "whitepackerbottle_a03", "table"], "_instruction_variants": {"default": "Put all the small plastic bottles in the square pail", "vague": "Clean up small bottles in the square pail", "specific": "Pick up the three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5cb3c3df82e4a6419221e811fa8bcf6e5f88730
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 223, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 227, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.226m", "score": 0.0}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.064m", "score": 0.0}, {"step": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.232m", "score": 0.0}, {"step": 302, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.322m", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.455m", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 348, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 349, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 372, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 375, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 379, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.116m", "score": 0.0}, {"step": 430, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 433, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 435, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 458, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 514, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.061m", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 698, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 733, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 736, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 787, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.157m", "score": 0.0}, {"step": 902, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 908, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 919, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 919, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 946, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 963, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 963, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 965, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 990, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 990, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1217, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1275, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1292, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.0}, {"step": 1307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1353, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1356, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.063m", "score": 0.0}, {"step": 1427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1456, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1504, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1504, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 1506, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1558, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.056m", "score": 0.0}, {"step": 1577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1622, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1741, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1744, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1744, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1801, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1806, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.120m", "score": 0.0}, {"step": 1814, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1816, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1818, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1952, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1981, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1996, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1996, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1997, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1998, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1998, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1998, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 2053, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.056m", "score": 0.0}, {"step": 2057, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2177, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2181, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2191, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2222, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2234, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2241, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2248, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2366, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 2442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.117m", "score": 0.0}, {"step": 2491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.095m", "score": 0.0}, {"step": 2504, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.093m", "score": 0.0}, {"step": 2543, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.116m", "score": 0.0}, {"step": 2612, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2642, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 2658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2664, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 2674, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.130m", "score": 0.0}, {"step": 2687, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a02'", "score": 0.0}, {"step": 2690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.060m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e96a11e102a8556f6f76e12da7612f8dbbfc484
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.066m", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", "score": 0.0}, {"step": 558, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a03, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a03. All conditions satisfied for whitepackerbottle_a03.", "score": 0.3333333333333333}, {"step": 753, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.6666666666666666}, {"step": 1068, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1230, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.6666666666666666}, {"step": 1322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1514, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.6666666666666666}, {"step": 1517, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.6666666666666666}, {"step": 1532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1533, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'large_storage_rack' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1546, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'large_storage_rack'", "score": 0.6666666666666666}, {"step": 1731, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1733, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a01', 'whitepackerbottle_a03', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1733, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1733, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.6666666666666666}, {"step": 1734, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1735, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1746, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1776, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'squarepail_a01' displaced 1.581m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..360958f03002a9d44379139c54c6b302c148632f
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c883a66b66327011bf856a7f3b8f80cf1b7ad438
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 736, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 80, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 93, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 140, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 179, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 387, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 387, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 389, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bowl). advanced 1 step(s) to step 1 for bowl.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 436, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bowl, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bowl. All conditions satisfied for bowl.", "score": 0.5}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 572, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 590, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 592, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 592, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 631, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.5}, {"step": 677, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.5}, {"step": 736, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 736, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b781eaae320eb23a9e80d0b43aa0258274dc51d
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/RedItemsInBinTask/log_2_env0.json
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the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d890df922e5d6a64bf66842640bd5f04728b2712
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.060m", "score": 0.0}, {"step": 178, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.173m", "score": 0.0}, {"step": 183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 184, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.113m", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 303, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.076m", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 391, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 691, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 706, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 826, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 842, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 895, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 897, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee2a076a4b2fc3edf8cf3d2ac06b91992966055f
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 56, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 133, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 179, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.168m", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 484, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 546, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 546, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 547, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 547, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 559, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.067m", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 647, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 652, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 659, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 668, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}, {"step": 676, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 1.0}, {"step": 691, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 0.774m", "score": 1.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 733, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: [])", "score": 1.0}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 1.0}, {"step": 764, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.096m", "score": 1.0}, {"step": 803, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 813, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 1.0}, {"step": 832, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'upright_white_mug' displaced 0.733m", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a68bee30784abe9c0a13a70622d7b1b7af4a364
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_6/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
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+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
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+INFO:root:Plan before execution: False
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+INFO:root:GPT action format: joint_absolute
+INFO:root:Manipulation notes included: False; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 15 frames
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+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
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+INFO:src.evaluation.robolab_bench.episode_stats:Episode bb0f76205e9943e7beb6271b4e55dc4b-2 (codex/gpt-6-astra) ended: wall=495.797s harness=400.892s tokens=3421317 usage_complete=True decisions=30 executed_steps=450 steps_complete=True network_wait=84.22876305878162 rate_limit_wait=0 rate_limit_count=0 excluded=84.22876305878162 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/harness/20261028T143506.323519Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 23a6cb229f4048969f9ea2ae4fff3af4-0 (codex/gpt-6-astra) ended: wall=370.571s harness=307.013s tokens=2623360 usage_complete=True decisions=20 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/harness/20261028T143506.323519Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 252d3482faf24b76ba0b3975f772bf28-1 (codex/gpt-6-astra) ended: wall=343.446s harness=290.979s tokens=2513546 usage_complete=True decisions=18 executed_steps=256 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/harness/20261028T143506.323519Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c8f4f0b8be544399bac4a2b79e7be500-2 (codex/gpt-6-astra) ended: wall=322.784s harness=271.127s tokens=2209957 usage_complete=True decisions=17 executed_steps=254 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_6/harness/20261028T143506.323519Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 44770) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/client.log b/harness_robolab_exploration/embo_joint_abs/gpu_7/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..15e59e0908f9654c6f07f35a2cc35aa30b06c298
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/client.log
@@ -0,0 +1,2001 @@
+[2026-10-28T14:35:03Z] GPU 7: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:7
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261028_143508.log
+2026-10-28T14:35:08Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-28T14:35:14Z [5,480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:14Z [5,481ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:14Z [5,565ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-28T14:35:15Z [7,051ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:15Z [7,053ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:15Z [7,054ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 714880
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-28T14:35:18Z [10,081ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-28T14:35:18Z [10,082ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 914.54  11.33   9.24   9.92   9.17   4.37   7.14   4.87 
+     1  20.60 925.65  20.64  20.38  17.21  20.96   9.17   2.51 
+     2  10.11   8.96 913.21   8.69   2.17   2.02   7.73   7.81 
+     3   8.43   8.63   7.81 902.66  11.26  12.49   2.72   1.98 
+     4   8.34   8.69   8.51   7.73 929.26   8.07   9.04   8.42 
+     5  10.63  12.42  12.35  10.66  12.59 919.12  14.67  10.30 
+     6  16.47  16.45  16.43  16.73  14.83   9.20 915.89   9.30 
+     7  18.50  18.40  16.43  17.31  15.22  16.35  10.59 918.04 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  47.50  12.66  12.75  12.23  11.54  11.46  24.80 
+     1  16.00   1.51  18.21  18.59  17.89  14.03  11.37  25.43 
+     2  15.87  16.45   1.56  18.66  18.95  18.06  18.73  29.25 
+     3  15.21  10.49  46.78   1.48  13.81  11.68  14.97  22.92 
+     4  11.42  13.17  11.71  47.92   1.34  20.10  11.56  23.99 
+     5  11.63  11.42  13.37  52.38  11.33   1.51  11.52  23.64 
+     6  11.70  11.63  11.66  11.27  13.45  11.51   1.38  27.58 
+     7 337.53  65.81  13.63 440.30  14.94 440.91  11.30   1.33 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.32   7.07   6.86   6.68   7.57   7.37   7.63   7.71 
+     1   6.95   2.31   6.78   6.76   7.59   7.41   7.50   7.59 
+     2   6.99   6.88   2.26   6.74   7.69   7.47   7.58   7.64 
+     3   6.76   6.64   6.67   2.27   7.59   7.40   7.55   7.59 
+     4   7.31   7.16   7.16   7.25   2.54   8.08   8.11   8.15 
+     5   7.31   7.18   7.12   7.33   8.05   2.53   8.00   8.08 
+     6   7.36   7.14   7.13   7.19   7.99   7.86   2.56   8.23 
+     7   7.25   7.22   7.08   7.27   7.94   7.95   8.01   2.47 
+2026-10-28T14:35:25Z [16,349ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.0 GB/s.
+2026-10-28T14:35:25Z [16,349ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 440.9 us.
+2026-10-28T14:35:25Z [16,349ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-28T14:35:28Z [19,709ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,710ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,789ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,789ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,799ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,964ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,964ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:28Z [19,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,969ms] [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)
+2026-10-28T14:35:28Z [19,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:28Z [19,975ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:29Z [20,908ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-28T14:35:33Z [24,318ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-28T14:35:43Z [35,012ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-28T14:35:44Z [36,043ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-28T14:35:59Z [50,720ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-28T14:35:59Z [50,722ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [51,099ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-28T14:36:04Z [55,540ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,541ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,542ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:04Z [55,551ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-28T14:36:04Z [55,564ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:36:04Z [55,564ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 11 task(s): ['FruitsOnionToPlateTask', 'MarkerInMugTask', 'SmallPumpkinInBinTask', 'SpoonInMugTask', 'TakeSpatulaOffShelfTask', 'ReorientRedMugTask', 'FoodPacking1BoxesTask', 'BananasInBinThreeTotalTask', 'RubiksCubeThenBananaTask', 'FoodPacking1CansTask', 'BananaInBowlTask']
+2026-10-28T14:36:19Z [70,333ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d7f0227fe0>)
+
+2026-10-28T14:36:19Z [70,334ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55d7f0227fe0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask
+  Environments   : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask
+  Num Tasks      : 11
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T14:36:31Z [82,271ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.508569 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T14:36:37Z [88,356ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:37Z [88,357ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:37Z [88,390ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:37Z [88,390ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:37Z [88,399ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:37Z [88,407ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T14:36:37Z [88,683ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:37Z [88,707ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:39Z [91,206ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:39Z [91,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:39Z [91,206ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,295ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((43))' not available in the MDL representation.
+2026-10-28T14:36:40Z [91,295ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((43))' not available in the MDL representation.
+2026-10-28T14:36:42Z [94,060ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-28T14:36:42Z [94,061ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-28T14:36:43Z [94,298ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:43Z [94,298ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:43Z [94,298ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,661ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,661ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,662ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,706ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:45Z [96,706ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:46Z [97,643ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-28T14:36:46Z [97,644ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-28T14:36:47Z [98,828ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-28T14:36:47Z [99,258ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,259ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,259ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((26))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((43))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((43))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,263ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,263ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,266ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,270ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,270ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:47Z [99,271ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,275ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-28T14:36:48Z [99,275ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.615336 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FruitsOnionToPlateTask                        │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the onion on the plate                    │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FruitsOnionToPlateTaskSceneEnvCfg             │
+│  Attributes  : semantics, vague, simple                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_0_env0.json.
+FruitsOnionToPlateTask_0 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.2120341448971, 'joint_sparc_mean': -5.700809907214252, 'ee_isj': 34939.19348623064, 'joint_isj': 1112245.2386709198, 'ee_path_length': 4.263765336066847, 'joint_rmse_mean': 1.6359904473120908, 'ee_speed_max': 2.8819284439086914, 'ee_speed_mean': 0.07110176980495453}, events: {'OBJECT_BUMPED': 5, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_OUT_OF_SCENE': 15, 'OBJECT_MOVED': 13, 'wrong_objects_grabbed': ['orange_02']}, instruction_type: default, timing: {'policy_inference_s': 516.322, 'policy_inference_avg_ms': 573.7, 'env_step_s': 556.597, 'env_step_avg_ms': 618.4, 'video_write_s': 6.752, 'video_write_avg_ms': 7.5, 'wall_total_s': 1079.67, 'it_per_sec': 0.83}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 85943a7246364f929efd74703c1c0718-0
+[RoboLab] Running FruitsOnionToPlateTask_1: 'Put the onion on the plate' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_1_env0.json.
+FruitsOnionToPlateTask_1 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.010978952868963, 'joint_sparc_mean': -9.47652424165162, 'ee_isj': 1571.7130877120526, 'joint_isj': 87131.80532336043, 'ee_path_length': 6.386627676803111, 'joint_rmse_mean': 1.607935761625728, 'ee_speed_max': 0.6834391951560974, 'ee_speed_mean': 0.10165930539369583}, events: {'OBJECT_BUMPED': 5, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 3, 'wrong_objects_grabbed': ['clay_plates']}, instruction_type: default, timing: {'policy_inference_s': 1061.42, 'policy_inference_avg_ms': 1179.4, 'env_step_s': 567.051, 'env_step_avg_ms': 630.1, 'video_write_s': 6.977, 'video_write_avg_ms': 7.8, 'wall_total_s': 1635.447, 'it_per_sec': 0.55}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 8ae746fb2caa416bab42cf92e6c67f50-1
+[RoboLab] Running FruitsOnionToPlateTask_2: 'Put the onion on the plate' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_2_env0.json.
+FruitsOnionToPlateTask_2 complete: task_name: FruitsOnionToPlateTask, run_name: FruitsOnionToPlateTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the onion on the plate, attributes: ['semantics', 'vague', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.25008740849356, 'joint_sparc_mean': -12.741692465072505, 'ee_isj': 1606.5598521730915, 'joint_isj': 56292.69876833368, 'ee_path_length': 6.886150790201914, 'joint_rmse_mean': 1.5864942565883122, 'ee_speed_max': 0.5761069059371948, 'ee_speed_mean': 0.10850667953491211}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 839.468, 'policy_inference_avg_ms': 932.7, 'env_step_s': 568.142, 'env_step_avg_ms': 631.3, 'video_write_s': 6.855, 'video_write_avg_ms': 7.6, 'wall_total_s': 1414.465, 'it_per_sec': 0.64}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: e0360f86d02a4ed188d85821f699a1aa-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T15:46:35Z [4,287,067ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.190521 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T15:46:41Z [4,292,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T15:46:41Z [4,292,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:46:41Z [4,292,924ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T15:46:41Z [4,292,924ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:46:41Z [4,292,932ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:46:41Z [4,292,939ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T15:46:41Z [4,292,958ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T15:46:42Z [4,293,310ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,311ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,311ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,588ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,588ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,623ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,623ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,637ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,637ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,668ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,669ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,689ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,690ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,725ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,725ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,737ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,737ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,743ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,743ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,751ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,751ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,781ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,879ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,293,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,294,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-10-28T15:46:42Z [4,294,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,668ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,669ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,669ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((323))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,670ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,670ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((341))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,671ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,675ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((377))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,676ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,676ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,676ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,676ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,677ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,677ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,680ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,682ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,684ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-10-28T15:46:43Z [4,294,684ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.585370 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.424373799452444, 'joint_sparc_mean': -7.449670312160461, 'ee_isj': 2286.540481351589, 'joint_isj': 99312.07980784074, 'ee_path_length': 5.623182081305306, 'joint_rmse_mean': 1.9099101428225524, 'ee_speed_max': 0.7690681219100952, 'ee_speed_mean': 0.13507245481014252}, events: {'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 780.982, 'policy_inference_avg_ms': 1301.6, 'env_step_s': 326.422, 'env_step_avg_ms': 544.0, 'video_write_s': 5.433, 'video_write_avg_ms': 9.1, 'wall_total_s': 1112.836, 'it_per_sec': 0.54}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 7e3c812ebb6e4af08201b629c1946638-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_1_env0.json.
+MarkerInMugTask_1 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: True, episode_step: 468, duration: 31.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.102973241785894, 'joint_sparc_mean': -6.0882711953905835, 'ee_isj': 738.1879023942639, 'joint_isj': 90728.25095951262, 'ee_path_length': 3.053203077496009, 'joint_rmse_mean': 1.9942235710210607, 'ee_speed_max': 0.5129255652427673, 'ee_speed_mean': 0.09239993989467621}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 743.941, 'policy_inference_avg_ms': 1589.6, 'env_step_s': 255.53, 'env_step_avg_ms': 546.0, 'video_write_s': 4.397, 'video_write_avg_ms': 9.4, 'wall_total_s': 1003.867, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 279931669bb74446bf7c58209417750e-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_2_env0.json.
+MarkerInMugTask_2 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.447087431776358, 'joint_sparc_mean': -8.37062018785946, 'ee_isj': 1382.0796495838235, 'joint_isj': 84739.02504240436, 'ee_path_length': 4.520420042531634, 'joint_rmse_mean': 2.007006059471093, 'ee_speed_max': 0.7618811130523682, 'ee_speed_mean': 0.10364014655351639}, events: {'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 1, 'OBJECT_BUMPED': 9, 'OBJECT_MOVED': 2, 'wrong_objects_grabbed': ['glasses', 'glasses', 'glasses']}, instruction_type: default, timing: {'policy_inference_s': 914.721, 'policy_inference_avg_ms': 1524.5, 'env_step_s': 318.907, 'env_step_avg_ms': 531.5, 'video_write_s': 4.921, 'video_write_avg_ms': 8.2, 'wall_total_s': 1238.549, 'it_per_sec': 0.48}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 912786698176493db78efb3e7260c39d-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T16:43:48Z [7,720,062ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.257967 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T16:43:53Z [7,725,208ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T16:43:54Z [7,725,337ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:43:54Z [7,725,337ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:43:54Z [7,725,348ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:43:54Z [7,725,348ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:43:54Z [7,725,358ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:43:54Z [7,725,366ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T16:43:54Z [7,725,791ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,792ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,792ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,798ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((580))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,798ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((580))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,882ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((600))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((600))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,982ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,725,983ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((627))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,042ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/right_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,058ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,058ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,059ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,062ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,062ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((642))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,198ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:54Z [7,726,198ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,726,396ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,726,396ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,726,396ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,726,423ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((757))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,726,423ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((757))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,122ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,122ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,124ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((600))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,125ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((600))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,126ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,126ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((604))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,129ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,130ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,130ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((640))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,134ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,134ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,135ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,139ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,139ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,140ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((747))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,140ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((757))' not available in the MDL representation.
+2026-10-28T16:43:55Z [7,727,141ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((757))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.999163 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json.
+SmallPumpkinInBinTask_0 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.323538362510904, 'joint_sparc_mean': -11.23830913211515, 'ee_isj': 1027.4170762805227, 'joint_isj': 45655.60525666352, 'ee_path_length': 4.439554278009625, 'joint_rmse_mean': 1.5104950390061176, 'ee_speed_max': 0.5185843706130981, 'ee_speed_mean': 0.07172032445669174}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 13, 'WRONG_OBJECT_GRABBED': 8, 'GRIPPER_HIT_OBJECT': 3, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 6, 'wrong_objects_grabbed': ['lemon_01', 'lemon_01', 'lemon_01', 'lemon_01', 'lemon_01', 'lemon_01', 'lemon_01', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 1040.52, 'policy_inference_avg_ms': 1156.1, 'env_step_s': 598.262, 'env_step_avg_ms': 664.7, 'video_write_s': 6.618, 'video_write_avg_ms': 7.4, 'wall_total_s': 1645.4, 'it_per_sec': 0.55}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: cabfd4b08d154714910b4bbc6db59c43-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json.
+SmallPumpkinInBinTask_1 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 631, duration: 42.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.709421178246027, 'joint_sparc_mean': -10.445993599845085, 'ee_isj': 857.6341326647394, 'joint_isj': 16020.390752259864, 'ee_path_length': 3.9877882850298656, 'joint_rmse_mean': 1.4978688645447487, 'ee_speed_max': 0.37358999252319336, 'ee_speed_mean': 0.09145978838205338}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 10}, instruction_type: default, timing: {'policy_inference_s': 786.67, 'policy_inference_avg_ms': 1246.7, 'env_step_s': 424.396, 'env_step_avg_ms': 672.6, 'video_write_s': 4.736, 'video_write_avg_ms': 7.5, 'wall_total_s': 1215.802, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3778d41a35214acea77718d04b6c3238-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json.
+SmallPumpkinInBinTask_2 complete: task_name: SmallPumpkinInBinTask, run_name: SmallPumpkinInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the small pumpkin in the bin, attributes: ['size', 'simple'], success: True, episode_step: 286, duration: 19.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.317850288420725, 'joint_sparc_mean': -6.402067166684282, 'ee_isj': 535.4712370313744, 'joint_isj': 6107.030343409923, 'ee_path_length': 2.1774926228167573, 'joint_rmse_mean': 1.5340815708067694, 'ee_speed_max': 0.6078413128852844, 'ee_speed_mean': 0.10982654988765717}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['whitepackerbottle_a01']}, instruction_type: default, timing: {'policy_inference_s': 349.337, 'policy_inference_avg_ms': 1221.5, 'env_step_s': 191.814, 'env_step_avg_ms': 670.7, 'video_write_s': 2.376, 'video_write_avg_ms': 8.3, 'wall_total_s': 543.527, 'it_per_sec': 0.53}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2c008582db7b4cfa86fa9f51152f07a7-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T17:41:25Z [11,177,158ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.193749 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T17:41:31Z [11,183,028ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:41:31Z [11,183,029ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:41:31Z [11,183,037ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:41:31Z [11,183,038ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:41:31Z [11,183,046ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:41:31Z [11,183,055ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T17:41:32Z [11,183,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((890))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,499ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((890))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,605ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((923))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,606ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((923))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,620ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,621ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,635ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((931))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,636ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((931))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,720ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((949))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,720ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((949))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,726ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,726ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,775ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,775ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,817ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,817ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,818ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((987))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,846ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((987))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,862ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((990))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,863ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((990))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,923ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((1010))' not available in the MDL representation.
+2026-10-28T17:41:32Z [11,183,923ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((1010))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,696ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((890))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,696ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((890))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((923))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,698ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((923))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,700ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((931))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,700ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((931))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,701ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,701ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((949))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((949))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((952))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,704ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,704ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,705ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,705ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,705ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((980))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,706ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((987))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,706ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((987))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,707ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((990))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,707ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((990))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((1010))' not available in the MDL representation.
+2026-10-28T17:41:33Z [11,184,711ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((1010))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.519482 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_0_env0.json.
+SpoonInMugTask_0 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 842, duration: 56.13333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.418080961601159, 'joint_sparc_mean': -6.464742920098174, 'ee_isj': 1077.219070881154, 'joint_isj': 35827.16794449578, 'ee_path_length': 6.141776857705976, 'joint_rmse_mean': 1.1584833112363528, 'ee_speed_max': 0.35679110884666443, 'ee_speed_mean': 0.10301313549280167}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1726.753, 'policy_inference_avg_ms': 2050.8, 'env_step_s': 409.096, 'env_step_avg_ms': 485.9, 'video_write_s': 5.884, 'video_write_avg_ms': 7.0, 'wall_total_s': 2141.733, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8a742f13049642c08dc35fb49a3a0263-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.365200957106237, 'joint_sparc_mean': -7.602868061657162, 'ee_isj': 879.3349440022992, 'joint_isj': 25620.42778903973, 'ee_path_length': 4.430943756887091, 'joint_rmse_mean': 1.621820392306068, 'ee_speed_max': 0.3009220063686371, 'ee_speed_mean': 0.06951086223125458}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1063.836, 'policy_inference_avg_ms': 1182.0, 'env_step_s': 434.257, 'env_step_avg_ms': 482.5, 'video_write_s': 7.821, 'video_write_avg_ms': 8.7, 'wall_total_s': 1505.914, 'it_per_sec': 0.6}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 43b3c4e0017d498186ed0d9ddca96046-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_2_env0.json.
+SpoonInMugTask_2 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 706, duration: 47.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.397624303097139, 'joint_sparc_mean': -10.295878201079026, 'ee_isj': 609.7890813921555, 'joint_isj': 14912.157406440398, 'ee_path_length': 3.6540756079700443, 'joint_rmse_mean': 1.355695155993849, 'ee_speed_max': 0.2535310983657837, 'ee_speed_mean': 0.0742797702550888}, events: {'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 5}, instruction_type: default, timing: {'policy_inference_s': 920.869, 'policy_inference_avg_ms': 1304.3, 'env_step_s': 348.69, 'env_step_avg_ms': 493.9, 'video_write_s': 5.596, 'video_write_avg_ms': 7.9, 'wall_total_s': 1275.155, 'it_per_sec': 0.55}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 57c0d3fbb12d4bc38991cbeb8bf7cc54-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T19:05:13Z [16,204,796ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.250315 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T19:05:17Z [16,209,184ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:05:17Z [16,209,185ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:05:17Z [16,209,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:05:17Z [16,209,194ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:05:17Z [16,209,202ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:05:17Z [16,209,210ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T19:05:19Z [16,211,231ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:19Z [16,211,232ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:19Z [16,211,232ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:19Z [16,211,259ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1172))' not available in the MDL representation.
+2026-10-28T19:05:19Z [16,211,259ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1172))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,212,980ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,212,980ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,212,981ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,213,015ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,213,016ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,213,016ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,213,034ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1224))' not available in the MDL representation.
+2026-10-28T19:05:21Z [16,213,035ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1224))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,288ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,288ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,588ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1272))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,588ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1272))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,599ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1276))' not available in the MDL representation.
+2026-10-28T19:05:22Z [16,213,599ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1276))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,605ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,606ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,606ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1167))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1172))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1172))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,609ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,609ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,610ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,611ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,611ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,611ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1217))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,612ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1224))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,612ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1224))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,614ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,614ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,614ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1241))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,616ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1276))' not available in the MDL representation.
+2026-10-28T19:05:23Z [16,214,617ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1276))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.716545 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.500571840123442, 'joint_sparc_mean': -10.538077909317645, 'ee_isj': 8080.084443544121, 'joint_isj': 339992.35313106107, 'ee_path_length': 12.432265795997775, 'joint_rmse_mean': 1.4937705704952364, 'ee_speed_max': 1.1034733057022095, 'ee_speed_mean': 0.20141524076461792}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_BUMPED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1}, instruction_type: default, timing: {'policy_inference_s': 979.349, 'policy_inference_avg_ms': 1088.2, 'env_step_s': 277.686, 'env_step_avg_ms': 308.5, 'video_write_s': 8.89, 'video_write_avg_ms': 9.9, 'wall_total_s': 1265.924, 'it_per_sec': 0.71}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: a712843f99dc4a8284363312b19e5122-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json.
+TakeSpatulaOffShelfTask_1 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_1, run: 1, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.40208410048683, 'joint_sparc_mean': -11.011383291214187, 'ee_isj': 12984.536647942958, 'joint_isj': 1407063.8467423702, 'ee_path_length': 10.238301466482909, 'joint_rmse_mean': 1.6514508943102204, 'ee_speed_max': 1.2150520086288452, 'ee_speed_mean': 0.1766146868467331}, events: {'GRIPPER_HIT_OBJECT': 2, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_BUMPED': 18, 'OBJECT_MOVED': 2, 'GRIPPER_FULLY_CLOSED': 5, 'WRONG_OBJECT_GRABBED': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['wireshelving_a01', 'wireshelving_a01']}, instruction_type: default, timing: {'policy_inference_s': 1163.114, 'policy_inference_avg_ms': 1292.3, 'env_step_s': 283.624, 'env_step_avg_ms': 315.1, 'video_write_s': 7.05, 'video_write_avg_ms': 7.8, 'wall_total_s': 1453.787, 'it_per_sec': 0.62}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: 316ddd8ab45d4892a4fb5f97cf662708-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.42859378708665, 'joint_sparc_mean': -12.610992571020551, 'ee_isj': 26141.44946914375, 'joint_isj': 1005174.0527982275, 'ee_path_length': 6.545980250085151, 'joint_rmse_mean': 1.5242533877110949, 'ee_speed_max': 3.1204299926757812, 'ee_speed_mean': 0.1136271134018898}, events: {'GRIPPER_FULLY_CLOSED': 11, 'WRONG_OBJECT_GRABBED': 22, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01']}, instruction_type: default, timing: {'policy_inference_s': 1190.781, 'policy_inference_avg_ms': 1323.1, 'env_step_s': 277.793, 'env_step_avg_ms': 308.7, 'video_write_s': 7.932, 'video_write_avg_ms': 8.8, 'wall_total_s': 1476.506, 'it_per_sec': 0.61}, score: 1.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: 14c72a7775e748ab8c43c316ec9c6306-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:16:16Z [20,467,777ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.240351 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:16:20Z [20,471,373ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:16:20Z [20,471,373ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:16:20Z [20,471,410ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:16:20Z [20,471,410ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:16:20Z [20,471,418ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:16:20Z [20,471,425ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:16:21Z [20,472,336ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,337ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,371ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1452))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,372ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1452))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,383ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1455))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,383ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1455))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,407ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1464))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,407ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1464))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,584ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1470))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,584ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1470))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,630ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1474))' not available in the MDL representation.
+2026-10-28T20:16:21Z [20,472,630ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1474))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,644ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,645ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,647ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1452))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,647ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1452))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,648ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1455))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,648ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1455))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,650ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1464))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,650ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1464))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,652ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1470))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,652ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1470))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,653ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1474))' not available in the MDL representation.
+2026-10-28T20:16:22Z [20,473,653ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1474))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.766053 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_0_env0.json.
+ReorientRedMugTask_0 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.862922439115906, 'joint_sparc_mean': -6.675451785615282, 'ee_isj': 3063.115565442122, 'joint_isj': 54113.6074852099, 'ee_path_length': 6.340408772853337, 'joint_rmse_mean': 1.6459568611607338, 'ee_speed_max': 0.9037244319915771, 'ee_speed_mean': 0.10114943981170654}, events: {'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_MOVED': 2, 'OBJECT_BUMPED': 2, 'OBJECT_OUT_OF_SCENE': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 666.689, 'policy_inference_avg_ms': 740.8, 'env_step_s': 249.211, 'env_step_avg_ms': 276.9, 'video_write_s': 8.735, 'video_write_avg_ms': 9.7, 'wall_total_s': 924.635, 'it_per_sec': 0.97}, score: 0.0, reason: Condition not satisfied: object_upright(object=red_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: d2d6d71168f748eaa7590a08054ea3ff-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_1_env0.json.
+ReorientRedMugTask_1 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.018205516031003, 'joint_sparc_mean': -9.085730824618746, 'ee_isj': 4050.6544744189787, 'joint_isj': 142505.07508882863, 'ee_path_length': 6.496487499926052, 'joint_rmse_mean': 2.238015739359293, 'ee_speed_max': 1.2565287351608276, 'ee_speed_mean': 0.11041296273469925}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 5, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 18, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 1147.579, 'policy_inference_avg_ms': 1275.1, 'env_step_s': 265.843, 'env_step_avg_ms': 295.4, 'video_write_s': 7.491, 'video_write_avg_ms': 8.3, 'wall_total_s': 1420.914, 'it_per_sec': 0.63}, score: 0.0, reason: Condition not satisfied: object_upright(object=red_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 6374bf205200406eaed572c645aca45e-1
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_2_env0.json.
+ReorientRedMugTask_2 complete: task_name: ReorientRedMugTask, run_name: ReorientRedMugTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the red mug upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 184, duration: 12.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.09745344081696, 'joint_sparc_mean': -5.677510672008813, 'ee_isj': 265.798695119914, 'joint_isj': 17466.00389483026, 'ee_path_length': 1.1199845566940525, 'joint_rmse_mean': 1.757715898298126, 'ee_speed_max': 0.1952729970216751, 'ee_speed_mean': 0.09029322117567062}, events: {'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 211.652, 'policy_inference_avg_ms': 1150.3, 'env_step_s': 51.451, 'env_step_avg_ms': 279.6, 'video_write_s': 1.939, 'video_write_avg_ms': 10.5, 'wall_total_s': 265.042, 'it_per_sec': 0.69}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 95dc951e67b24027a6d55cc667f7af62-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:00:43Z [23,134,637ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.209412 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:00:45Z [23,137,045ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:00:45Z [23,137,045ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:00:45Z [23,137,054ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:00:45Z [23,137,054ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:00:45Z [23,137,062ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:00:45Z [23,137,069ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:00:46Z [23,137,499ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1671))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1671))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,520ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1674))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,520ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1674))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,541ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1682))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,541ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1682))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,640ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1729))' not available in the MDL representation.
+2026-10-28T21:00:46Z [23,137,640ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1729))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,320ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1671))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,321ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1671))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,322ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1674))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,322ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1674))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,323ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1682))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,323ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1682))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,326ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1729))' not available in the MDL representation.
+2026-10-28T21:00:47Z [23,138,326ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1729))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.583866 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.253117415300461, 'joint_sparc_mean': -7.143412984747816, 'ee_isj': 1304.69342458297, 'joint_isj': 55036.22112947218, 'ee_path_length': 4.560721287915724, 'joint_rmse_mean': 1.71458156345435, 'ee_speed_max': 0.6205450296401978, 'ee_speed_mean': 0.07244376838207245}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_FULLY_CLOSED': 4}, instruction_type: default, timing: {'policy_inference_s': 562.736, 'policy_inference_avg_ms': 625.3, 'env_step_s': 188.596, 'env_step_avg_ms': 209.6, 'video_write_s': 6.738, 'video_write_avg_ms': 7.5, 'wall_total_s': 758.069, 'it_per_sec': 1.19}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 8503408d1c02429b8814a9305dbfcbb0-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 822, duration: 54.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.319850450256856, 'joint_sparc_mean': -9.738287481218974, 'ee_isj': 2651.430471736049, 'joint_isj': 194459.87904513127, 'ee_path_length': 6.735575079431866, 'joint_rmse_mean': 1.7107378114611635, 'ee_speed_max': 0.43240565061569214, 'ee_speed_mean': 0.11878743022680283}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3, 'OBJECT_BUMPED': 5}, instruction_type: default, timing: {'policy_inference_s': 846.626, 'policy_inference_avg_ms': 1030.0, 'env_step_s': 187.794, 'env_step_avg_ms': 228.5, 'video_write_s': 6.15, 'video_write_avg_ms': 7.5, 'wall_total_s': 1040.57, 'it_per_sec': 0.79}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9f8ae291fca34742ac5b247efd81b944-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.048151951559658, 'joint_sparc_mean': -9.728795992132728, 'ee_isj': 3039.1395085647528, 'joint_isj': 124100.32334984682, 'ee_path_length': 6.790037586208209, 'joint_rmse_mean': 1.5318827560224986, 'ee_speed_max': 0.8354876637458801, 'ee_speed_mean': 0.1191561222076416}, events: {'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_FULLY_CLOSED': 12, 'OBJECT_BUMPED': 3, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['bin_a06']}, instruction_type: default, timing: {'policy_inference_s': 1043.802, 'policy_inference_avg_ms': 1159.8, 'env_step_s': 191.116, 'env_step_avg_ms': 212.4, 'video_write_s': 7.25, 'video_write_avg_ms': 8.1, 'wall_total_s': 1242.168, 'it_per_sec': 0.72}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 44d0d8f92f7246efa1625a9eafc5b494-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:52:20Z [26,231,940ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.216058 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:52:24Z [26,235,866ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:52:24Z [26,235,866ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:52:24Z [26,235,875ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:52:24Z [26,235,875ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:52:24Z [26,235,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:52:24Z [26,235,893ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:52:25Z [26,236,680ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1937))' not available in the MDL representation.
+2026-10-28T21:52:25Z [26,236,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1937))' not available in the MDL representation.
+2026-10-28T21:52:27Z [26,238,296ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1937))' not available in the MDL representation.
+2026-10-28T21:52:27Z [26,238,296ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1937))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.259053 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananasInBinThreeTotalTask                    │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure there are 3 (three) bananas in the grey bin. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananasInBinThreeTotalTaskSceneEnvCfg         │
+│  Attributes  : semantics, counting, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananasInBinThreeTotalTask/log_0_env0.json.
+BananasInBinThreeTotalTask_0 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 870, duration: 58.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.816763394245038, 'joint_sparc_mean': -13.739578455720586, 'ee_isj': 757.0706056378431, 'joint_isj': 17820.76515787135, 'ee_path_length': 4.328724239559825, 'joint_rmse_mean': 1.2867994849058242, 'ee_speed_max': 0.3421681821346283, 'ee_speed_mean': 0.07150992751121521}, events: {'GRIPPER_FULLY_CLOSED': 15, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 9}, instruction_type: default, timing: {'policy_inference_s': 746.566, 'policy_inference_avg_ms': 858.1, 'env_step_s': 222.429, 'env_step_avg_ms': 255.7, 'video_write_s': 6.758, 'video_write_avg_ms': 7.8, 'wall_total_s': 975.754, 'it_per_sec': 0.89}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a5dbf041a2ab448da473bc5b7f6a5a97-0
+[RoboLab] Running BananasInBinThreeTotalTask_1: 'Make sure there are 3 (three) bananas in the grey bin.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananasInBinThreeTotalTask/log_1_env0.json.
+BananasInBinThreeTotalTask_1 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.97354980529599, 'joint_sparc_mean': -9.45436318581669, 'ee_isj': 1423.977393812822, 'joint_isj': 47954.088802507635, 'ee_path_length': 5.420530451501626, 'joint_rmse_mean': 1.6755005444292284, 'ee_speed_max': 0.39906755089759827, 'ee_speed_mean': 0.08968564867973328}, events: {'GRIPPER_HIT_TABLE': 12, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 6}, instruction_type: default, timing: {'policy_inference_s': 947.014, 'policy_inference_avg_ms': 1052.2, 'env_step_s': 233.255, 'env_step_avg_ms': 259.2, 'video_write_s': 7.297, 'video_write_avg_ms': 8.1, 'wall_total_s': 1187.566, 'it_per_sec': 0.76}, score: 0.0, reason: Only 0/1 objects completed. Failed: object_grabbed(object=banana) (step 1/2), harness_episode_id: f65a2f39f7e147549fbbe3dc2e73cfa3-1
+[RoboLab] Running BananasInBinThreeTotalTask_2: 'Make sure there are 3 (three) bananas in the grey bin.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananasInBinThreeTotalTask/log_2_env0.json.
+BananasInBinThreeTotalTask_2 complete: task_name: BananasInBinThreeTotalTask, run_name: BananasInBinThreeTotalTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure there are 3 (three) bananas in the grey bin., attributes: ['semantics', 'counting', 'moderate'], success: True, episode_step: 191, duration: 12.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.556933506730276, 'joint_sparc_mean': -3.4789580589469344, 'ee_isj': 309.65959967273784, 'joint_isj': 4134.444965869946, 'ee_path_length': 1.4726530470505992, 'joint_rmse_mean': 1.672058670137748, 'ee_speed_max': 0.43389368057250977, 'ee_speed_mean': 0.11101564019918442}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 225.981, 'policy_inference_avg_ms': 1183.1, 'env_step_s': 50.424, 'env_step_avg_ms': 264.0, 'video_write_s': 2.104, 'video_write_avg_ms': 11.0, 'wall_total_s': 278.509, 'it_per_sec': 0.69}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 12faaae2a0ec4bb3a12e58218808a165-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:34:01Z [28,732,944ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.234168 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:34:03Z [28,735,262ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:34:03Z [28,735,262ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:34:04Z [28,735,271ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:34:04Z [28,735,271ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:34:04Z [28,735,280ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:34:04Z [28,735,287ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:34:04Z [28,735,715ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2178))' not available in the MDL representation.
+2026-10-28T22:34:04Z [28,735,715ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2178))' not available in the MDL representation.
+2026-10-28T22:34:04Z [28,735,734ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2187))' not available in the MDL representation.
+2026-10-28T22:34:04Z [28,735,734ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2187))' not available in the MDL representation.
+2026-10-28T22:34:04Z [28,735,909ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2278))' not available in the MDL representation.
+2026-10-28T22:34:04Z [28,735,909ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2278))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,457ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2178))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,457ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2178))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,458ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2187))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,458ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2187))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,462ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2278))' not available in the MDL representation.
+2026-10-28T22:34:05Z [28,736,462ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2278))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.302715 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_0_env0.json.
+RubiksCubeThenBananaTask_0 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 425, duration: 28.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.728857928699557, 'joint_sparc_mean': -6.670839908301205, 'ee_isj': 618.2076959884477, 'joint_isj': 9997.88971964184, 'ee_path_length': 2.3748588865377407, 'joint_rmse_mean': 1.7319019349107294, 'ee_speed_max': 0.36652877926826477, 'ee_speed_mean': 0.07956112176179886}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 505.235, 'policy_inference_avg_ms': 1188.8, 'env_step_s': 84.943, 'env_step_avg_ms': 199.9, 'video_write_s': 3.265, 'video_write_avg_ms': 7.7, 'wall_total_s': 593.442, 'it_per_sec': 0.72}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 4ae338bee2f243398fe8b4fcb1412fde-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_1_env0.json.
+RubiksCubeThenBananaTask_1 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 467, duration: 31.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.927432268075346, 'joint_sparc_mean': -6.4282120278871036, 'ee_isj': 508.00127036203855, 'joint_isj': 11859.626201557647, 'ee_path_length': 2.787325619169082, 'joint_rmse_mean': 1.728045310287522, 'ee_speed_max': 0.33184874057769775, 'ee_speed_mean': 0.08457457274198532}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 5, 'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['banana']}, instruction_type: default, timing: {'policy_inference_s': 578.395, 'policy_inference_avg_ms': 1238.5, 'env_step_s': 97.335, 'env_step_avg_ms': 208.4, 'video_write_s': 3.734, 'video_write_avg_ms': 8.0, 'wall_total_s': 679.464, 'it_per_sec': 0.69}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: d961025bfef94ea2b95bc5553b63f1f9-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_2_env0.json.
+RubiksCubeThenBananaTask_2 complete: task_name: RubiksCubeThenBananaTask, run_name: RubiksCubeThenBananaTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the cube then the banana in the bowl, attributes: ['conjunction', 'simple'], success: True, episode_step: 421, duration: 28.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.711415111977517, 'joint_sparc_mean': -9.816756334673814, 'ee_isj': 576.8602187539849, 'joint_isj': 63305.29177010787, 'ee_path_length': 2.3683698475967017, 'joint_rmse_mean': 1.7450601780733888, 'ee_speed_max': 0.31938794255256653, 'ee_speed_mean': 0.08469461649656296}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 10}, instruction_type: default, timing: {'policy_inference_s': 427.135, 'policy_inference_avg_ms': 1014.6, 'env_step_s': 88.443, 'env_step_avg_ms': 210.1, 'video_write_s': 3.321, 'video_write_avg_ms': 7.9, 'wall_total_s': 518.899, 'it_per_sec': 0.81}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 42c1d1bcfaff46f6b3dabee1de99c405-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T23:04:39Z [30,571,127ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.192586 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T23:04:44Z [30,575,490ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T23:04:44Z [30,575,491ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:04:44Z [30,575,539ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T23:04:44Z [30,575,540ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:04:44Z [30,575,549ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:04:44Z [30,575,556ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T23:04:45Z [30,576,316ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2393))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,316ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2393))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,341ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2399))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,342ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2399))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,359ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2407))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,360ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2407))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,401ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2429))' not available in the MDL representation.
+2026-10-28T23:04:45Z [30,576,401ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2429))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,089ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2393))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,090ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2393))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,091ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2399))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,091ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2399))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,092ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2407))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,092ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2407))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2429))' not available in the MDL representation.
+2026-10-28T23:04:46Z [30,578,094ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2429))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.888574 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1CansTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack canned foods into the bin                │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1CansTaskSceneEnvCfg               │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json.
+FoodPacking1CansTask_0 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.52985408571968, 'joint_sparc_mean': -12.358561174253012, 'ee_isj': 1128.5277297783641, 'joint_isj': 30056.820552626912, 'ee_path_length': 4.518144965698029, 'joint_rmse_mean': 1.5333752946039503, 'ee_speed_max': 0.37559187412261963, 'ee_speed_mean': 0.07264105975627899}, events: {'GRIPPER_FULLY_CLOSED': 11, 'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['bin_a06']}, instruction_type: default, timing: {'policy_inference_s': 834.15, 'policy_inference_avg_ms': 926.8, 'env_step_s': 201.773, 'env_step_avg_ms': 224.2, 'video_write_s': 6.423, 'video_write_avg_ms': 7.1, 'wall_total_s': 1042.346, 'it_per_sec': 0.86}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=tomato_soup_can) (step 1/2), harness_episode_id: 5e5fed4a0e344aa092bf7d32af95069f-0
+[RoboLab] Running FoodPacking1CansTask_1: 'Pack canned foods into the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json.
+FoodPacking1CansTask_1 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 524, duration: 34.93333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.938787583120376, 'joint_sparc_mean': -10.0995363248264, 'ee_isj': 1114.6979417770829, 'joint_isj': 75590.01912276165, 'ee_path_length': 3.21510524597676, 'joint_rmse_mean': 1.740601888595433, 'ee_speed_max': 0.4455814063549042, 'ee_speed_mean': 0.09021412581205368}, events: {'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 351.764, 'policy_inference_avg_ms': 671.3, 'env_step_s': 117.775, 'env_step_avg_ms': 224.8, 'video_write_s': 4.547, 'video_write_avg_ms': 8.7, 'wall_total_s': 474.086, 'it_per_sec': 1.11}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 64920dfee0244d6caab0b6d11fbd1aff-1
+[RoboLab] Running FoodPacking1CansTask_2: 'Pack canned foods into the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json.
+FoodPacking1CansTask_2 complete: task_name: FoodPacking1CansTask, run_name: FoodPacking1CansTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack canned foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.235037253345826, 'joint_sparc_mean': -9.555264819678564, 'ee_isj': 1238.489961453871, 'joint_isj': 57801.36821190908, 'ee_path_length': 4.481956073323736, 'joint_rmse_mean': 1.6281104334717287, 'ee_speed_max': 0.2655777931213379, 'ee_speed_mean': 0.07227601110935211}, events: {'GRIPPER_FULLY_CLOSED': 12, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 15, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 866.128, 'policy_inference_avg_ms': 962.4, 'env_step_s': 203.575, 'env_step_avg_ms': 226.2, 'video_write_s': 6.878, 'video_write_avg_ms': 7.6, 'wall_total_s': 1076.58, 'it_per_sec': 0.84}, score: 0.0, reason: Condition not satisfied: object_in_container(object=tomato_soup_can, container=bin_a06, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 590f4f24822749408f2d966dc77fd211-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T23:48:50Z [33,222,013ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:7
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.221663 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T23:48:54Z [33,225,476ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T23:48:54Z [33,225,476ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:48:54Z [33,225,576ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T23:48:54Z [33,225,576ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:48:54Z [33,225,639ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T23:48:54Z [33,225,702ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T23:48:54Z [33,226,157ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2646))' not available in the MDL representation.
+2026-10-28T23:48:54Z [33,226,157ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2646))' not available in the MDL representation.
+2026-10-28T23:48:54Z [33,226,221ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2680))' not available in the MDL representation.
+2026-10-28T23:48:54Z [33,226,221ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2680))' not available in the MDL representation.
+2026-10-28T23:48:55Z [33,227,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2646))' not available in the MDL representation.
+2026-10-28T23:48:55Z [33,227,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2646))' not available in the MDL representation.
+2026-10-28T23:48:55Z [33,227,026ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2680))' not available in the MDL representation.
+2026-10-28T23:48:55Z [33,227,026ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2680))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.885437 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_0_env0.json.
+BananaInBowlTask_0 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_0, run: 0, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 376, duration: 25.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.970079996202118, 'joint_sparc_mean': -7.0934439881900655, 'ee_isj': 333.87568312600877, 'joint_isj': 13075.254156438901, 'ee_path_length': 1.6839137981916572, 'joint_rmse_mean': 1.82229780732466, 'ee_speed_max': 0.2073974311351776, 'ee_speed_mean': 0.06665024906396866}, events: {'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['bowl']}, instruction_type: default, timing: {'policy_inference_s': 390.469, 'policy_inference_avg_ms': 1038.5, 'env_step_s': 72.36, 'env_step_avg_ms': 192.4, 'video_write_s': 3.545, 'video_write_avg_ms': 9.4, 'wall_total_s': 466.374, 'it_per_sec': 0.81}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 54569ce9feee47c6b4ef3bd01b387d00-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_1_env0.json.
+BananaInBowlTask_1 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_1, run: 1, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: True, episode_step: 515, duration: 34.333333333333336, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.62068216593207, 'joint_sparc_mean': -7.660432789234308, 'ee_isj': 230.737843991285, 'joint_isj': 5586.073515689896, 'ee_path_length': 1.9805070442749968, 'joint_rmse_mean': 1.730201868251734, 'ee_speed_max': 0.2776130437850952, 'ee_speed_mean': 0.05547870695590973}, events: {'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 6}, instruction_type: default, timing: {'policy_inference_s': 514.969, 'policy_inference_avg_ms': 999.9, 'env_step_s': 95.669, 'env_step_avg_ms': 185.8, 'video_write_s': 4.326, 'video_write_avg_ms': 8.4, 'wall_total_s': 614.963, 'it_per_sec': 0.84}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 000d0f80d6144401984dffb2240b4f3b-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_2_env0.json.
+BananaInBowlTask_2 complete: task_name: BananaInBowlTask, run_name: BananaInBowlTask_2, run: 2, env_id: 0, policy: harness, instruction: Pick up the banana and place it in the bowl, attributes: ['semantics', 'simple'], success: False, episode_step: 750, duration: 50.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.1214619739458715, 'joint_sparc_mean': -9.034114021979692, 'ee_isj': 599.9983214773338, 'joint_isj': 8177.697904891149, 'ee_path_length': 4.13162918518257, 'joint_rmse_mean': 1.485235461941075, 'ee_speed_max': 0.3828763961791992, 'ee_speed_mean': 0.07855900377035141}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 8}, instruction_type: default, timing: {'policy_inference_s': 762.258, 'policy_inference_avg_ms': 1016.3, 'env_step_s': 137.153, 'env_step_avg_ms': 182.9, 'video_write_s': 5.882, 'video_write_avg_ms': 7.8, 'wall_total_s': 905.293, 'it_per_sec': 0.83}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=banana) (step 1/2), harness_episode_id: 1684efce601948fda328818daa227027-2
+--------------------------------------------------------------------- EXPERIMENT SUMMARY ---------------------------------------------------------------------
+Task Name                  Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (11 tasks)           15/33    45.5%   [29.8-62.1]    0.485        0.056       34.35   -6.67    4.71       9.7         0.71 17.4       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask           2/3      66.7%   [19.4-93.2]    0.667        0.000       29.70   -5.90    2.60       6.7         0.83 11.0       
+BananasInBinThreeTotalTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       35.37   -5.78    3.74       9.1         0.78 13.6       
+FoodPacking1BoxesTask      1/3      33.3%   [6.8-80.6]     0.333        0.000       54.80   -7.21    6.03       10.3        0.90 16.9       
+FoodPacking1CansTask       1/3      33.3%   [6.8-80.6]     0.333        0.000       34.93   -7.57    4.07       7.8         0.94 14.4       
+FruitsOnionToPlateTask     0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -6.49    5.85       9.4         0.67 22.9       
+MarkerInMugTask            1/3      33.3%   [6.8-80.6]     0.333        0.000       31.20   -5.66    4.40       11.0        0.50 18.6       
+ReorientRedMugTask         1/3      33.3%   [6.8-80.6]     0.333        0.000       12.27   -5.99    4.65       10.1        0.76 14.5       
+RubiksCubeThenBananaTask   3/3      100.0%  [39.8-99.4]    1.000        -           29.18   -5.46    2.51       8.3         0.74 10.0       
+SmallPumpkinInBinTask      2/3      66.7%   [19.4-93.2]    0.667        0.000       30.57   -7.78    3.53       9.1         0.53 18.9       
+SpoonInMugTask             2/3      66.7%   [19.4-93.2]    0.667        0.000       51.60   -6.39    4.74       8.2         0.51 27.3       
+TakeSpatulaOffShelfTask    0/3      0.0%    [0.6-60.2]     0.333        0.333       -       -9.11    9.74       16.4        0.65 23.3       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_0_env0.json
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananaInBowlTask/log_2_env0.json
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"require_gripper_detached": true, "require_contact_with": false}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e9be06520>, object='banana', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_01": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='banana_01')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e9be06520>, object='banana_01', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "banana_03": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='banana_03')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e9be06520>, object='banana_03', container='grey_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a6adc089c0a4dfcbcaab5f91f56ab875b2d8274
--- /dev/null
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+{"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:7", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa266f15a681e8fcf69f2a2035583fc7d15370db
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 68, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 92, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 93, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 93, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3451c234a9aa41e810878185ccfbde765d25d1f
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": true, "final_step": 822, "events": [{"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 167, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 167, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 231, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'tomato_soup_can' nudged 0.101m", "score": 0.0}, {"step": 491, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.127m", "score": 0.0}, {"step": 601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.059m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bin_a06' nudged 0.096m", "score": 0.0}, {"step": 777, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.092m", "score": 0.0}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 822, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8135492df7a9c2f6c63507fdcac2d286c5577963
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 96, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 96, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 98, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "score": 0.0}, {"step": 99, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 99, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: 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"slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "policies.harness_policy.hybrid_actions:HybridArmAction", "asset_name": "robot", "debug_vis": false, "clip": null, "pose": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": ["tomato_soup_can"], "container": "bin_a06", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"tomato_soup_can": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='tomato_soup_can')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e9be06520>, object='tomato_soup_can', container='bin_a06', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "FoodPacking1CansTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pack canned foods into the bin", "contact_object_list": ["bin_a06", "cheez_it", "mustard", "tomato_soup_can", "table"], "_instruction_variants": {"default": "Pack canned foods into the bin", "vague": "Pack cans", "specific": "Pick up the canned food item and place it inside the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..922afe0a48677be0bb3d2dff06e2118b3beeec9b
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 172, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 172, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 259, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 338, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 377, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 415, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 420, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 469, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 469, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 481, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 481, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 519, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 524, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 676, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 695, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 721, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 724, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 724, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 739, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 774, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 774, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 787, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.142m", "score": 0.0}, {"step": 798, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 857, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 868, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bin_a06' (target objects: ['tomato_soup_can'])", "score": 0.0}, {"step": 868, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bin_a06'", "score": 0.0}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bin_a06'", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05da520dc3e9215ebf5dac898baeb60cda54af7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 1, "success": true, "final_step": 524, "events": [{"step": 61, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 62, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 62, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 82, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 187, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 389, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 435, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 484, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 521, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 521, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=tomato_soup_can). advanced 1 step(s) to step 1 for tomato_soup_can.", "score": 0.0}, {"step": 524, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 524, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..af8d34262b0873c708649f47e3ee3cb0b83f2d3b
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json
@@ -0,0 +1 @@
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"renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1aa810b11a48f017e7873acef5603b0a5dc15b2
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/FruitsOnionToPlateTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/MarkerInMugTask/log_2_env0.json
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null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, 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"isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f9e9d98b240>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..32349ef2b17d8f263cde927539b11f0d8a6db7bc
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 111, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 116, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 181, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 183, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 183, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 184, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 184, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 198, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 207, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 234, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.500m", "score": 0.0}, {"step": 394, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 402, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.069m", "score": 0.0}, {"step": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.086m", "score": 0.0}, {"step": 483, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 501, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 517, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.756m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..068003b07a418880d5835f5d9ea12c7d6a54e345
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 90, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 124, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 124, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 133, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 151, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.084m", "score": 0.0}, {"step": 193, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.064m", "score": 0.0}, {"step": 256, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.131m", "score": 0.5}, {"step": 256, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 258, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 331, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.156m", "score": 0.5}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 358, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.116m", "score": 0.0}, {"step": 361, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 420, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.198m", "score": 0.0}, {"step": 496, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.123m", "score": 0.0}, {"step": 538, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 542, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.157m", "score": 0.5}, {"step": 571, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.212m", "score": 0.5}, {"step": 583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.078m", "score": 0.0}, {"step": 583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.295m", "score": 0.5}, {"step": 646, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.070m", "score": 0.5}, {"step": 661, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.140m", "score": 0.5}, {"step": 721, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.116m", "score": 0.5}, {"step": 751, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.181m", "score": 0.5}, {"step": 761, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.084m", "score": 0.5}, {"step": 781, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.108m", "score": 0.5}, {"step": 789, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 873, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 886, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 886, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 889, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.189m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ced87eaf77cf2735d81b2441d66e762e2b5817b
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/ReorientRedMugTask/log_2_env0.json
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"Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e9147daa7833d3ec226f855e9ac34684111ddc
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 0, "success": true, "final_step": 425, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 207, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 214, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 271, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 356, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 421, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de994d33edb02b663cb038c018eec6af64e31a5
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RubiksCubeThenBananaTask", "env_id": 0, "run": 1, "success": true, "final_step": 467, "events": [{"step": 87, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 199, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 200, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 258, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.0}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 316, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 321, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.056m", "score": 0.5}, {"step": 359, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 397, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.5}, {"step": 450, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 450, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 452, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 452, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 466, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a38a69884ea0101f291f246fa7277603856b7ae5
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
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{"lambda_val": 0.01}}}, "joints": {"class_type": "isaaclab.envs.mdp.actions.joint_actions:JointPositionAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "scale": 1.0, "offset": 0.0, "preserve_order": true, "use_default_offset": false}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "pumpkinsmall", "container": "right_bin", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"pumpkinsmall": [["functools.partial(<function object_grabbed at 0x7f9e9b61b560>, object='pumpkinsmall')", 0.0], ["functools.partial(<function object_in_container at 0x7f9e9be06520>, object='pumpkinsmall', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["size", "simple"], "_task_attributes": ["size", "simple"], "_task_name": "SmallPumpkinInBinTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the small pumpkin in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put the small pumpkin in the bin", "vague": "Put away the small pumpkin", "specific": "Identify the smaller pumpkin of the two pumpkins on the table and place it in the bin"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e4dfe4c2c30226bc76eb41cf1a3d6c97301739
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 168, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 172, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 175, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 176, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 183, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 185, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 288, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 304, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_01'", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 372, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'serving_bowl'", "score": 0.0}, {"step": 372, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 603, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 604, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 604, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 707, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 710, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 711, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 711, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 734, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 834, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 840, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 850, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 850, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 891, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 891, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 896, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 896, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf1c26ce534ce22781a05848a4e1a82d0f91850
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 1, "success": true, "final_step": 631, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 100, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 192, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 192, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 193, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 207, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 242, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 242, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 301, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 323, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 346, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 363, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 363, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 408, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 426, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 426, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 631, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 631, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b314785ebd4d55424483acf857cb3333b20e5dba
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SmallPumpkinInBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 286, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 103, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 155, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'whitepackerbottle_a01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 155, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 156, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 196, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 199, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 199, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=pumpkinsmall). advanced 1 step(s) to step 1 for pumpkinsmall.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3f47772f0e8635afc0a15be80fddb10564c942bf
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SmallPumpkinInBinTask/run_0.hdf5
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_0_env0.json
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/SpoonInMugTask/log_2_env0.json
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c96f64ea24276e9492d571593a55708da7cdd45
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 359, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 374, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 374, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 444, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.146m", "score": 0.0}, {"step": 447, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 450, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.908m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a03971dfbd64660e9027ce51f3f255d694e3332
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 23, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 142, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'fork_small'", "score": 0.0}, {"step": 146, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.141m", "score": 0.0}, {"step": 147, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'fork_small' displaced 0.910m", "score": 0.0}, {"step": 207, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.072m", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.108m", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 467, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.093m", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 492, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 493, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.073m", "score": 0.0}, {"step": 533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.141m", "score": 0.0}, {"step": 600, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.089m", "score": 0.0}, {"step": 631, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.090m", "score": 0.0}, {"step": 661, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.075m", "score": 0.0}, {"step": 661, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.074m", "score": 0.0}, {"step": 661, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug_01' nudged 0.062m", "score": 0.0}, {"step": 674, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug_01'", "score": 0.0}, {"step": 675, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.147m", "score": 0.0}, {"step": 692, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.200m", "score": 0.0}, {"step": 693, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug_01' nudged 0.102m", "score": 0.0}, {"step": 706, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plate_small' nudged 0.146m", "score": 0.0}, {"step": 708, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.144m", "score": 0.0}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wireshelving_a01' nudged 0.236m", "score": 0.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'fork_big' nudged 0.174m", "score": 0.0}, {"step": 717, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'mug_01'", "score": 0.0}, {"step": 728, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug_01' displaced 1.062m", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3181fa106dc3bc4669c43ddadb570ccc9c2749fc
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "TakeSpatulaOffShelfTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 206, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 348, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 348, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 351, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 354, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 357, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 358, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 380, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 384, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wireshelving_a01'", "score": 0.0}, {"step": 385, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wireshelving_a01' (target objects: ['spatula_01'])", "score": 0.0}, {"step": 389, "code": 0, "name": 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+INFO:src.evaluation.robolab_bench.episode_stats:Episode f65a2f39f7e147549fbbe3dc2e73cfa3-1 (codex/gpt-6-astra) ended: wall=1110.064s harness=857.969s tokens=8838701 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=78.00726311653852 rate_limit_wait=0 rate_limit_count=0 excluded=78.00726311653852 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 12faaae2a0ec4bb3a12e58218808a165-2 (codex/gpt-6-astra) ended: wall=256.229s harness=201.097s tokens=1201047 usage_complete=True decisions=13 executed_steps=191 steps_complete=True network_wait=22.394508883357048 rate_limit_wait=0 rate_limit_count=0 excluded=22.394508883357048 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4ae338bee2f243398fe8b4fcb1412fde-0 (codex/gpt-6-astra) ended: wall=518.465s harness=425.095s tokens=3860579 usage_complete=True decisions=29 executed_steps=425 steps_complete=True network_wait=75.1976869404316 rate_limit_wait=0 rate_limit_count=0 excluded=75.1976869404316 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d961025bfef94ea2b95bc5553b63f1f9-1 (codex/gpt-6-astra) ended: wall=578.880s harness=472.102s tokens=4243466 usage_complete=True decisions=32 executed_steps=467 steps_complete=True network_wait=100.85599031299353 rate_limit_wait=0 rate_limit_count=0 excluded=100.85599031299353 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 42c1d1bcfaff46f6b3dabee1de99c405-2 (codex/gpt-6-astra) ended: wall=519.172s harness=422.301s tokens=3785609 usage_complete=True decisions=29 executed_steps=421 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5e5fed4a0e344aa092bf7d32af95069f-0 (codex/gpt-6-astra) ended: wall=1042.927s harness=823.642s tokens=7736383 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 64920dfee0244d6caab0b6d11fbd1aff-1 (codex/gpt-6-astra) ended: wall=474.434s harness=345.730s tokens=2749630 usage_complete=True decisions=35 executed_steps=524 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 590f4f24822749408f2d966dc77fd211-2 (codex/gpt-6-astra) ended: wall=1077.161s harness=854.815s tokens=8488072 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 54569ce9feee47c6b4ef3bd01b387d00-0 (codex/gpt-6-astra) ended: wall=466.602s harness=385.513s tokens=3292055 usage_complete=True decisions=26 executed_steps=376 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 000d0f80d6144401984dffb2240b4f3b-1 (codex/gpt-6-astra) ended: wall=615.268s harness=508.550s tokens=4768149 usage_complete=True decisions=35 executed_steps=515 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1684efce601948fda328818daa227027-2 (codex/gpt-6-astra) ended: wall=905.763s harness=752.873s tokens=7029075 usage_complete=True decisions=50 executed_steps=750 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_abs/gpu_7/harness/20261028T143506.323930Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 47498) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_joint_abs/progress.log b/harness_robolab_exploration/embo_joint_abs/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..cf941b1e51fcbe7fde7b5c50c3321bd8b5a92dc9
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_abs/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 7 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 0/20 | Episodes 1/60 | Success 0.00% (0/1) | Mean Harness 505.687s | Mean Wall 1080.182s | Mean Tokens 4,207,483.0 | Mean Raw Harness 505.687s | Mean Raw Wall 1080.182s
+[Batch] GPU 7 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 0/20 | Episodes 2/60 | Success 0.00% (0/2) | Mean Harness 775.433s | Mean Wall 1355.427s | Mean Tokens 6,044,480.0 | Mean Raw Harness 778.095s | Mean Raw Wall 1358.089s
+[Batch] GPU 6 finished PlasticBottlesInSquarePailTask/0: FAILURE | Tasks 0/20 | Episodes 3/60 | Success 0.00% (0/3) | Mean Harness 1537.058s | Mean Wall 2221.437s | Mean Tokens 11,644,895.0 | Mean Raw Harness 1538.833s | Mean Raw Wall 2223.212s
+[Batch] GPU 7 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 1/20 | Episodes 4/60 | Success 0.00% (0/4) | Mean Harness 1359.989s | Mean Wall 2019.833s | Mean Tokens 10,738,510.5 | Mean Raw Harness 1361.320s | Mean Raw Wall 2021.164s
+[Batch] GPU 7 finished MarkerInMugTask/0: FAILURE | Tasks 1/20 | Episodes 5/60 | Success 0.00% (0/5) | Mean Harness 1239.591s | Mean Wall 1835.414s | Mean Tokens 9,787,057.2 | Mean Raw Harness 1243.754s | Mean Raw Wall 1839.578s
+[Batch] GPU 6 finished PlasticBottlesInSquarePailTask/1: FAILURE | Tasks 1/20 | Episodes 6/60 | Success 0.00% (0/6) | Mean Harness 1269.470s | Mean Wall 1910.898s | Mean Tokens 9,664,895.2 | Mean Raw Harness 1276.117s | Mean Raw Wall 1917.545s
+[Batch] GPU 7 finished MarkerInMugTask/1: SUCCESS | Tasks 1/20 | Episodes 7/60 | Success 14.29% (1/7) | Mean Harness 1193.564s | Mean Wall 1781.362s | Mean Tokens 9,096,681.4 | Mean Raw Harness 1199.262s | Mean Raw Wall 1787.060s
+[Batch] GPU 6 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 2/20 | Episodes 8/60 | Success 25.00% (2/8) | Mean Harness 1143.086s | Mean Wall 1686.774s | Mean Tokens 8,833,695.6 | Mean Raw Harness 1148.071s | Mean Raw Wall 1691.760s
+[Batch] GPU 7 finished MarkerInMugTask/2: FAILURE | Tasks 3/20 | Episodes 9/60 | Success 22.22% (2/9) | Mean Harness 1116.883s | Mean Wall 1637.011s | Mean Tokens 8,564,948.7 | Mean Raw Harness 1121.315s | Mean Raw Wall 1641.442s
+[Batch] GPU 6 finished ReorientWhiteMugsTask/0: FAILURE | Tasks 3/20 | Episodes 10/60 | Success 20.00% (2/10) | Mean Harness 1123.042s | Mean Wall 1617.768s | Mean Tokens 8,631,583.7 | Mean Raw Harness 1127.031s | Mean Raw Wall 1621.756s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/0: FAILURE | Tasks 3/20 | Episodes 11/60 | Success 18.18% (2/11) | Mean Harness 1114.565s | Mean Wall 1620.329s | Mean Tokens 8,585,617.0 | Mean Raw Harness 1118.191s | Mean Raw Wall 1623.955s
+[Batch] GPU 6 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 3/20 | Episodes 12/60 | Success 16.67% (2/12) | Mean Harness 1110.767s | Mean Wall 1596.457s | Mean Tokens 8,504,914.3 | Mean Raw Harness 1115.403s | Mean Raw Wall 1601.093s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 3/20 | Episodes 13/60 | Success 23.08% (3/13) | Mean Harness 1083.742s | Mean Wall 1565.690s | Mean Tokens 8,306,056.9 | Mean Raw Harness 1089.537s | Mean Raw Wall 1571.485s
+[Batch] GPU 7 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 4/20 | Episodes 14/60 | Success 28.57% (4/14) | Mean Harness 1031.043s | Mean Wall 1492.691s | Mean Tokens 7,907,364.5 | Mean Raw Harness 1036.424s | Mean Raw Wall 1498.071s
+[Batch] GPU 6 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 5/20 | Episodes 15/60 | Success 26.67% (4/15) | Mean Harness 1040.971s | Mean Wall 1489.272s | Mean Tokens 7,964,787.7 | Mean Raw Harness 1046.922s | Mean Raw Wall 1495.223s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 5/20 | Episodes 16/60 | Success 31.25% (5/16) | Mean Harness 1009.208s | Mean Wall 1438.711s | Mean Tokens 7,715,321.2 | Mean Raw Harness 1014.786s | Mean Raw Wall 1444.289s
+[Batch] GPU 7 finished SpoonInMugTask/0: SUCCESS | Tasks 5/20 | Episodes 17/60 | Success 35.29% (6/17) | Mean Harness 1050.039s | Mean Wall 1479.305s | Mean Tokens 7,715,321.2 (16/17 complete) | Mean Raw Harness 1056.076s | Mean Raw Wall 1485.342s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 5/20 | Episodes 18/60 | Success 38.89% (7/18) | Mean Harness 1103.791s | Mean Wall 1525.387s | Mean Tokens 7,715,321.2 (16/18 complete) | Mean Raw Harness 1109.493s | Mean Raw Wall 1531.088s
+[Batch] GPU 7 finished SpoonInMugTask/1: FAILURE | Tasks 5/20 | Episodes 19/60 | Success 36.84% (7/19) | Mean Harness 1101.085s | Mean Wall 1524.390s | Mean Tokens 7,715,321.2 (16/19 complete) | Mean Raw Harness 1106.487s | Mean Raw Wall 1529.792s
+[Batch] GPU 7 finished SpoonInMugTask/2: SUCCESS | Tasks 6/20 | Episodes 20/60 | Success 40.00% (8/20) | Mean Harness 1091.632s | Mean Wall 1511.949s | Mean Tokens 7,521,916.2 (17/20 complete) | Mean Raw Harness 1096.763s | Mean Raw Wall 1517.080s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/2: FAILURE | Tasks 7/20 | Episodes 21/60 | Success 38.10% (8/21) | Mean Harness 1109.066s | Mean Wall 1524.091s | Mean Tokens 7,521,916.2 (17/21 complete) | Mean Raw Harness 1113.953s | Mean Raw Wall 1528.978s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: FAILURE | Tasks 7/20 | Episodes 22/60 | Success 36.36% (8/22) | Mean Harness 1102.650s | Mean Wall 1512.379s | Mean Tokens 7,535,423.7 (18/22 complete) | Mean Raw Harness 1107.315s | Mean Raw Wall 1517.044s
+[Batch] GPU 6 finished ClampInRightBinTask/0: FAILURE | Tasks 7/20 | Episodes 23/60 | Success 34.78% (8/23) | Mean Harness 1100.355s | Mean Wall 1502.885s | Mean Tokens 7,624,243.4 (19/23 complete) | Mean Raw Harness 1104.817s | Mean Raw Wall 1507.348s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: FAILURE | Tasks 7/20 | Episodes 24/60 | Success 33.33% (8/24) | Mean Harness 1102.501s | Mean Wall 1500.863s | Mean Tokens 7,688,190.7 (20/24 complete) | Mean Raw Harness 1106.777s | Mean Raw Wall 1505.140s
+[Batch] GPU 6 finished ClampInRightBinTask/1: FAILURE | Tasks 7/20 | Episodes 25/60 | Success 32.00% (8/25) | Mean Harness 1094.642s | Mean Wall 1486.761s | Mean Tokens 7,713,248.4 (21/25 complete) | Mean Raw Harness 1098.747s | Mean Raw Wall 1490.866s
+[Batch] GPU 6 finished ClampInRightBinTask/2: SUCCESS | Tasks 8/20 | Episodes 26/60 | Success 34.62% (9/26) | Mean Harness 1076.527s | Mean Wall 1461.217s | Mean Tokens 7,656,756.3 (22/26 complete) | Mean Raw Harness 1080.475s | Mean Raw Wall 1465.165s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: FAILURE | Tasks 9/20 | Episodes 27/60 | Success 33.33% (9/27) | Mean Harness 1080.335s | Mean Wall 1461.801s | Mean Tokens 7,723,002.2 (23/27 complete) | Mean Raw Harness 1084.136s | Mean Raw Wall 1465.602s
+[Batch] GPU 6 finished OneBottleInSquarePailTask/0: FAILURE | Tasks 9/20 | Episodes 28/60 | Success 32.14% (9/28) | Mean Harness 1073.170s | Mean Wall 1451.475s | Mean Tokens 7,755,216.7 (24/28 complete) | Mean Raw Harness 1076.836s | Mean Raw Wall 1455.141s
+[Batch] GPU 7 finished ReorientRedMugTask/0: FAILURE | Tasks 9/20 | Episodes 29/60 | Success 31.03% (9/29) | Mean Harness 1058.779s | Mean Wall 1433.325s | Mean Tokens 7,596,264.8 (25/29 complete) | Mean Raw Harness 1062.318s | Mean Raw Wall 1436.864s
+[Batch] GPU 6 finished OneBottleInSquarePailTask/1: FAILURE | Tasks 9/20 | Episodes 30/60 | Success 30.00% (9/30) | Mean Harness 1058.181s | Mean Wall 1430.209s | Mean Tokens 7,671,983.1 (26/30 complete) | Mean Raw Harness 1061.602s | Mean Raw Wall 1433.630s
+[Batch] GPU 7 finished ReorientRedMugTask/1: FAILURE | Tasks 9/20 | Episodes 31/60 | Success 29.03% (9/31) | Mean Harness 1060.705s | Mean Wall 1429.924s | Mean Tokens 7,721,998.0 (27/31 complete) | Mean Raw Harness 1064.015s | Mean Raw Wall 1433.235s
+[Batch] GPU 7 finished ReorientRedMugTask/2: SUCCESS | Tasks 10/20 | Episodes 32/60 | Success 31.25% (10/32) | Mean Harness 1034.099s | Mean Wall 1393.525s | Mean Tokens 7,508,892.4 (28/32 complete) | Mean Raw Harness 1037.307s | Mean Raw Wall 1396.732s
+[Batch] GPU 6 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 11/20 | Episodes 33/60 | Success 33.33% (11/33) | Mean Harness 1026.403s | Mean Wall 1382.923s | Mean Tokens 7,426,551.9 (29/33 complete) | Mean Raw Harness 1029.513s | Mean Raw Wall 1386.033s
+[Batch] GPU 7 finished FoodPacking1BoxesTask/0: FAILURE | Tasks 11/20 | Episodes 34/60 | Success 32.35% (11/34) | Mean Harness 1012.455s | Mean Wall 1364.558s | Mean Tokens 7,358,598.2 (30/34 complete) | Mean Raw Harness 1015.474s | Mean Raw Wall 1367.576s
+[Batch] GPU 6 finished RedItemsInBinTask/0: SUCCESS | Tasks 11/20 | Episodes 35/60 | Success 34.29% (12/35) | Mean Harness 997.279s | Mean Wall 1344.521s | Mean Tokens 7,251,860.4 (31/35 complete) | Mean Raw Harness 1000.212s | Mean Raw Wall 1347.453s
+[Batch] GPU 7 finished FoodPacking1BoxesTask/1: SUCCESS | Tasks 11/20 | Episodes 36/60 | Success 36.11% (13/36) | Mean Harness 992.824s | Mean Wall 1336.089s | Mean Tokens 7,291,838.1 (32/36 complete) | Mean Raw Harness 995.675s | Mean Raw Wall 1338.940s
+[Batch] GPU 6 finished RedItemsInBinTask/1: FAILURE | Tasks 11/20 | Episodes 37/60 | Success 35.14% (13/37) | Mean Harness 987.229s | Mean Wall 1327.147s | Mean Tokens 7,314,133.0 (33/37 complete) | Mean Raw Harness 990.002s | Mean Raw Wall 1329.920s
+[Batch] GPU 6 finished RedItemsInBinTask/2: SUCCESS | Tasks 12/20 | Episodes 38/60 | Success 36.84% (14/38) | Mean Harness 972.495s | Mean Wall 1309.246s | Mean Tokens 7,181,483.8 (34/38 complete) | Mean Raw Harness 975.196s | Mean Raw Wall 1311.947s
+[Batch] GPU 7 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 13/20 | Episodes 39/60 | Success 35.90% (14/39) | Mean Harness 974.045s | Mean Wall 1307.538s | Mean Tokens 7,238,122.1 (35/39 complete) | Mean Raw Harness 976.677s | Mean Raw Wall 1310.169s
+[Batch] GPU 6 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 13/20 | Episodes 40/60 | Success 37.50% (15/40) | Mean Harness 967.457s | Mean Wall 1296.497s | Mean Tokens 7,215,213.6 (36/40 complete) | Mean Raw Harness 970.023s | Mean Raw Wall 1299.063s
+[Batch] GPU 7 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 39.02% (16/41) | Mean Harness 961.816s | Mean Wall 1288.686s | Mean Tokens 7,234,108.8 (37/41 complete) | Mean Raw Harness 964.319s | Mean Raw Wall 1291.189s
+[Batch] GPU 6 finished BananaThenRubiksCubeTask/1: FAILURE | Tasks 13/20 | Episodes 42/60 | Success 38.10% (16/42) | Mean Harness 959.091s | Mean Wall 1282.853s | Mean Tokens 7,234,108.8 (37/42 complete) | Mean Raw Harness 962.064s | Mean Raw Wall 1285.826s
+[Batch] GPU 7 finished BananasInBinThreeTotalTask/1: FAILURE | Tasks 13/20 | Episodes 43/60 | Success 37.21% (16/43) | Mean Harness 956.739s | Mean Wall 1278.835s | Mean Tokens 7,276,334.9 (38/43 complete) | Mean Raw Harness 961.457s | Mean Raw Wall 1283.553s
+[Batch] GPU 6 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 14/20 | Episodes 44/60 | Success 38.64% (17/44) | Mean Harness 944.862s | Mean Wall 1261.911s | Mean Tokens 7,164,820.3 (39/44 complete) | Mean Raw Harness 950.062s | Mean Raw Wall 1267.111s
+[Batch] GPU 7 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 15/20 | Episodes 45/60 | Success 40.00% (18/45) | Mean Harness 928.334s | Mean Wall 1239.563s | Mean Tokens 7,015,726.0 (40/45 complete) | Mean Raw Harness 933.916s | Mean Raw Wall 1245.144s
+[Batch] GPU 6 finished MustardInLeftBinTask/0: FAILURE | Tasks 15/20 | Episodes 46/60 | Success 39.13% (18/46) | Mean Harness 916.169s | Mean Wall 1222.672s | Mean Tokens 6,941,485.3 (41/46 complete) | Mean Raw Harness 923.894s | Mean Raw Wall 1230.397s
+[Batch] GPU 7 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 15/20 | Episodes 47/60 | Success 40.43% (19/47) | Mean Harness 905.721s | Mean Wall 1207.689s | Mean Tokens 6,868,130.4 (42/47 complete) | Mean Raw Harness 914.881s | Mean Raw Wall 1216.849s
+[Batch] GPU 6 finished MustardInLeftBinTask/1: FAILURE | Tasks 15/20 | Episodes 48/60 | Success 39.58% (19/48) | Mean Harness 896.062s | Mean Wall 1193.816s | Mean Tokens 6,797,465.5 (43/48 complete) | Mean Raw Harness 905.031s | Mean Raw Wall 1202.785s
+[Batch] GPU 7 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 15/20 | Episodes 49/60 | Success 40.82% (20/49) | Mean Harness 887.410s | Mean Wall 1181.266s | Mean Tokens 6,739,420.0 (44/49 complete) | Mean Raw Harness 898.254s | Mean Raw Wall 1192.111s
+[Batch] GPU 6 finished MustardInLeftBinTask/2: FAILURE | Tasks 16/20 | Episodes 50/60 | Success 40.00% (20/50) | Mean Harness 877.679s | Mean Wall 1167.557s | Mean Tokens 6,665,684.4 (45/50 complete) | Mean Raw Harness 889.992s | Mean Raw Wall 1179.869s
+[Batch] GPU 7 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 17/20 | Episodes 51/60 | Success 41.18% (21/51) | Mean Harness 868.750s | Mean Wall 1154.843s | Mean Tokens 6,603,074.1 (46/51 complete) | Mean Raw Harness 880.821s | Mean Raw Wall 1166.914s
+[Batch] GPU 6 finished BowlStackingRightOnLeftTask/0: FAILURE | Tasks 17/20 | Episodes 52/60 | Success 40.38% (21/52) | Mean Harness 857.948s | Mean Wall 1139.761s | Mean Tokens 6,518,399.3 (47/52 complete) | Mean Raw Harness 869.786s | Mean Raw Wall 1151.600s
+[Batch] GPU 6 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 41.51% (22/53) | Mean Harness 847.250s | Mean Wall 1124.736s | Mean Tokens 6,434,964.9 (48/53 complete) | Mean Raw Harness 858.865s | Mean Raw Wall 1136.352s
+[Batch] GPU 6 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 18/20 | Episodes 54/60 | Success 42.59% (23/54) | Mean Harness 836.581s | Mean Wall 1109.885s | Mean Tokens 6,348,740.2 (49/54 complete) | Mean Raw Harness 847.981s | Mean Raw Wall 1121.286s
+[Batch] GPU 7 finished FoodPacking1CansTask/0: FAILURE | Tasks 18/20 | Episodes 55/60 | Success 41.82% (23/55) | Mean Harness 836.346s | Mean Wall 1108.668s | Mean Tokens 6,376,493.1 (50/55 complete) | Mean Raw Harness 847.539s | Mean Raw Wall 1119.861s
+[Batch] GPU 7 finished FoodPacking1CansTask/1: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 42.86% (24/56) | Mean Harness 827.585s | Mean Wall 1097.342s | Mean Tokens 6,305,378.1 (51/56 complete) | Mean Raw Harness 838.578s | Mean Raw Wall 1108.335s
+[Batch] GPU 7 finished FoodPacking1CansTask/2: FAILURE | Tasks 19/20 | Episodes 57/60 | Success 42.11% (24/57) | Mean Harness 828.063s | Mean Wall 1096.988s | Mean Tokens 6,347,353.0 (52/57 complete) | Mean Raw Harness 838.863s | Mean Raw Wall 1107.788s
+[Batch] GPU 7 finished BananaInBowlTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 43.10% (25/58) | Mean Harness 820.433s | Mean Wall 1086.120s | Mean Tokens 6,289,705.9 (53/58 complete) | Mean Raw Harness 831.046s | Mean Raw Wall 1096.734s
+[Batch] GPU 7 finished BananaInBowlTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 44.07% (26/59) | Mean Harness 815.146s | Mean Wall 1078.139s | Mean Tokens 6,261,528.9 (54/59 complete) | Mean Raw Harness 825.580s | Mean Raw Wall 1088.573s
+[Batch] GPU 7 finished BananaInBowlTask/2: FAILURE | Tasks 20/20 | Episodes 60/60 | Success 43.33% (26/60) | Mean Harness 814.108s | Mean Wall 1075.266s | Mean Tokens 6,275,484.3 (55/60 complete) | Mean Raw Harness 824.369s | Mean Raw Wall 1085.526s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 43.33% (26/60) | Mean Harness 814.108s | Mean Wall 1075.266s | Mean Tokens 6,275,484.3 (55/60 complete) | Mean Raw Harness 824.369s | Mean Raw Wall 1085.526s
diff --git a/harness_robolab_exploration/embo_joint_delta/assignments.tsv b/harness_robolab_exploration/embo_joint_delta/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..79ffb91005ed36f3eb469fe306e529d5ca50b96d
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/assignments.tsv
@@ -0,0 +1,3 @@
+gpu	port	estimated_seconds	tasks
+4	8030	27248.771	PlasticBottlesInSquarePailTask ReorientWhiteMugsTask BlockStackingSpecifiedOrderTask ClampInRightBinTask OneBottleInSquarePailTask RedItemsInBinTask BananaThenRubiksCubeTask MustardInLeftBinTask BowlStackingRightOnLeftTask
+5	8031	28303.335	FruitsOnionToPlateTask MarkerInMugTask SmallPumpkinInBinTask SpoonInMugTask TakeSpatulaOffShelfTask ReorientRedMugTask FoodPacking1BoxesTask BananasInBinThreeTotalTask RubiksCubeThenBananaTask FoodPacking1CansTask BananaInBowlTask
diff --git a/harness_robolab_exploration/embo_joint_delta/batch_manifest.json b/harness_robolab_exploration/embo_joint_delta/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4cdc932a4bf67823506a830de5f7f1edb7987a
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/batch_manifest.json
@@ -0,0 +1,36 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        4,
+        5
+      ],
+      "path": "."
+    }
+  ],
+  "runs": 3,
+  "schema_version": 1,
+  "task_costs": {
+    "BananaInBowlTask": 425.86899999999997,
+    "BananaThenRubiksCubeTask": 719.5473000000001,
+    "BananasInBinThreeTotalTask": 589.033,
+    "BlockStackingSpecifiedOrderTask": 905.3386,
+    "BowlStackingRightOnLeftTask": 451.9177,
+    "ClampInRightBinTask": 888.4855,
+    "FoodPacking1BoxesTask": 721.0428,
+    "FoodPacking1CansTask": 467.5319,
+    "FruitsOnionToPlateTask": 1483.3265,
+    "MarkerInMugTask": 1356.3095,
+    "MustardInLeftBinTask": 503.56759999999997,
+    "OneBottleInSquarePailTask": 783.6646,
+    "PlasticBottlesInSquarePailTask": 2974.0027,
+    "RedItemsInBinTask": 766.2022,
+    "ReorientRedMugTask": 869.2076999999999,
+    "ReorientWhiteMugsTask": 1090.1975,
+    "RubiksCubeThenBananaTask": 522.5474,
+    "SmallPumpkinInBinTask": 1174.1926,
+    "SpoonInMugTask": 935.4904,
+    "TakeSpatulaOffShelfTask": 889.8943
+  },
+  "task_set": "sub"
+}
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/client.log b/harness_robolab_exploration/embo_joint_delta/gpu_4/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..ca1998f2b7699e449539ff49eaa2e334163b9c2a
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/client.log
@@ -0,0 +1,1612 @@
+[2026-10-28T14:34:58Z] GPU 4: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:4
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261028_143504.log
+2026-10-28T14:35:04Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-28T14:35:10Z [6,152ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:10Z [6,153ms] [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)
+2026-10-28T14:35:10Z [6,284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-28T14:35:12Z [7,583ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:12Z [7,584ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:12Z [7,585ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c099352d.. |
+|     |                                  |        |     |            | 1         |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
+|     |                                  |        |     |            | 25        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | de6efd62.. |
+|     |                                  |        |     |            | 41        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
+|     |                                  |        |     |            | 61        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ef801622.. |
+|     |                                  |        |     |            | 81        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4571552e.. |
+|     |                                  |        |     |            | a1        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 2b1e4e40.. |
+|     |                                  |        |     |            | c1        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 7fb4268b.. |
+|     |                                  |        |     |            | e1        |            |
+|=============================================================================================|
+| OS: 22.04.4 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.4, Kernel: 5.14.0-284.25.1.el9_2.x86_64
+| Processor: AMD EPYC 7543 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 112
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 983040 | Free Memory: 715645
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-28T14:35:16Z [11,714ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-28T14:35:16Z [11,714ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 902.67  15.69  12.23  13.94  17.85   4.97   7.74  22.12 
+     1  16.74 917.50  17.99  15.19  16.42  20.12  19.53   4.56 
+     2  15.92  16.29 927.85  15.58  20.61  20.38  17.60  18.90 
+     3  10.91  16.27  13.24 911.61  11.91  15.12  13.82  11.86 
+     4   5.66   7.38  12.44  12.84 911.08   8.85  15.11  14.29 
+     5   3.58  17.84   9.30   9.94   7.64 898.50  12.84  14.70 
+     6   5.86  16.99  14.79  14.70  14.27  13.65 898.50   9.12 
+     7  13.31  12.23  18.22  18.16  16.01  17.23  15.20 912.14 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.41  20.75  20.98  20.26  24.94  18.83  19.60  18.75 
+     1 188.00   1.35  19.53  17.15  31.82  16.17  16.14  16.92 
+     2  60.54 242.31   1.39  74.01  89.65  72.49  71.72  70.36 
+     3  11.62 206.12  20.25   1.41  31.65  20.53  21.34  19.86 
+     4 214.49 203.41 215.66 936.42   3.55 1826.50 943.77  19.91 
+     5 1568.94 1453.94 1232.19  35.68  32.01   1.67 338.69  43.68 
+     6  20.06  20.09  20.80  20.15  20.48  27.57   1.45  20.07 
+     7  11.95  11.75  18.28  16.54  16.03  30.83  83.35   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.78   8.39   9.12   9.47   7.83   8.12   7.93   8.07 
+     1   9.11   2.91   9.61   8.80   8.23   7.95   7.89   8.23 
+     2   9.13   8.90   2.96   9.70   9.39   8.70   8.41   8.79 
+     3   8.74   8.99   9.34   2.88   8.87   8.74   8.28   8.29 
+     4   8.29   8.25   8.93   8.83   2.81   8.13   8.49  10.44 
+     5   8.43   9.04   9.46   9.10   8.14   2.83   8.67   8.39 
+     6   8.75   8.89   9.28   9.36   7.98   8.58   2.81   8.18 
+     7   8.75   8.57   8.90   8.64   8.07   8.14   8.36   2.65 
+2026-10-28T14:35:21Z [16,964ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.6 GB/s.
+2026-10-28T14:35:21Z [16,964ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1826.5 us.
+2026-10-28T14:35:21Z [16,964ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-28T14:35:23Z [19,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:23Z [19,454ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,786ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,799ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,985ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,986ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,990ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,990ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,996ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,996ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:25Z [20,947ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-28T14:35:29Z [24,617ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-28T14:35:39Z [35,086ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-28T14:35:40Z [36,181ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-28T14:35:55Z [50,729ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-28T14:35:55Z [50,731ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-28T14:35:55Z [51,261ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-28T14:35:59Z [55,300ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,301ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,304ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:35:59Z [55,329ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-28T14:35:59Z [55,439ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,439ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 9 task(s): ['PlasticBottlesInSquarePailTask', 'ReorientWhiteMugsTask', 'BlockStackingSpecifiedOrderTask', 'ClampInRightBinTask', 'OneBottleInSquarePailTask', 'RedItemsInBinTask', 'BananaThenRubiksCubeTask', 'MustardInLeftBinTask', 'BowlStackingRightOnLeftTask']
+2026-10-28T14:36:17Z [72,744ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f4e9b13830>)
+
+2026-10-28T14:36:17Z [72,745ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55f4e9b13830>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, ReorientWhiteMugsTask, BlockStackingSpecifiedOrderTask, ClampInRightBinTask, OneBottleInSquarePailTask, RedItemsInBinTask, BananaThenRubiksCubeTask, MustardInLeftBinTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 9
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab
+══════════════════════════════════════════════════════════════
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T14:36:21Z [77,038ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.883507 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T14:36:28Z [83,998ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:28Z [83,998ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:28Z [84,032ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:28Z [84,033ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:28Z [84,043ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:28Z [84,050ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T14:36:28Z [84,244ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:28Z [84,272ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:31Z [87,380ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-28T14:36:31Z [87,380ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,777ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((44))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,778ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((44))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,783ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,784ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((47))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,796ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((53))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,796ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((53))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,803ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((57))' not available in the MDL representation.
+2026-10-28T14:36:32Z [87,803ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((57))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,138ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,138ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,171ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,171ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,226ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,226ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,252ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,252ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,279ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,297ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-28T14:36:32Z [88,297ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-28T14:36:35Z [90,763ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-28T14:36:35Z [90,764ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-28T14:36:35Z [91,109ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:35Z [91,109ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:35Z [91,131ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-28T14:36:35Z [91,131ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-28T14:36:38Z [93,877ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-10-28T14:36:38Z [93,877ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-10-28T14:36:38Z [93,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-10-28T14:36:38Z [93,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-10-28T14:36:38Z [94,172ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((244))' not available in the MDL representation.
+2026-10-28T14:36:38Z [94,172ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((244))' not available in the MDL representation.
+2026-10-28T14:36:39Z [94,907ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-28T14:36:39Z [95,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,210ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,211ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,212ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,214ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,214ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,220ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,220ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 17.356066 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : PlasticBottlesInSquarePailTask                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the small plastic bottles in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : PlasticBottlesInSquarePailTaskSceneEnvCfg     │
+│  Attributes  : semantics, sorting, size, complex             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running PlasticBottlesInSquarePailTask_0: 'Put all the small plastic bottles in the square pail' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json.
+PlasticBottlesInSquarePailTask_0 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.414025876979524, 'joint_sparc_mean': -12.516260274087944, 'ee_isj': 7520.871221029334, 'joint_isj': 224901.34134463372, 'ee_path_length': 16.365263117951848, 'joint_rmse_mean': 1.745138733867094, 'ee_speed_max': 1.007094383239746, 'ee_speed_mean': 0.08588375151157379}, events: {'GRIPPER_FULLY_CLOSED': 20, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_BUMPED': 10, 'WRONG_OBJECT_GRABBED': 8, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 1873.445, 'policy_inference_avg_ms': 693.9, 'env_step_s': 804.361, 'env_step_avg_ms': 297.9, 'video_write_s': 25.489, 'video_write_avg_ms': 9.4, 'wall_total_s': 2703.295, 'it_per_sec': 1.0}, score: 0.6666666865348816, reason: Condition not satisfied: object_grabbed(object=whitepackerbottle_a02) (step 1/2), harness_episode_id: 602589f3205c4d66af81b8f7ce390a59-0
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json.
+PlasticBottlesInSquarePailTask_1 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -15.403644927043889, 'joint_sparc_mean': -25.609291498393784, 'ee_isj': 8670.545723359584, 'joint_isj': 807132.2948697517, 'ee_path_length': 17.299579323474244, 'joint_rmse_mean': 1.702657115929163, 'ee_speed_max': 1.23372483253479, 'ee_speed_mean': 0.09316710382699966}, events: {'GRIPPER_FULLY_CLOSED': 14, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_HIT_TABLE': 4, 'OBJECT_BUMPED': 13, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 4, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 2345.28, 'policy_inference_avg_ms': 868.6, 'env_step_s': 837.857, 'env_step_avg_ms': 310.3, 'video_write_s': 27.872, 'video_write_avg_ms': 10.3, 'wall_total_s': 3211.009, 'it_per_sec': 0.84}, score: 0.3333333432674408, reason: Condition not satisfied: object_grabbed(object=whitepackerbottle_a02) (step 1/2), harness_episode_id: 969c2ebefa2b4435a2d827c9777a42ed-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json.
+PlasticBottlesInSquarePailTask_2 complete: task_name: PlasticBottlesInSquarePailTask, run_name: PlasticBottlesInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the small plastic bottles in the square pail, attributes: ['semantics', 'sorting', 'size', 'complex'], success: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.592177761561375, 'joint_sparc_mean': -18.43109148475722, 'ee_isj': 11596.743624099176, 'joint_isj': 558234.027977411, 'ee_path_length': 23.36512405976009, 'joint_rmse_mean': 1.7584416294201943, 'ee_speed_max': 0.954708993434906, 'ee_speed_mean': 0.12658748030662537}, events: {'GRIPPER_FULLY_CLOSED': 30, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 17, 'WRONG_OBJECT_GRABBED': 21, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 21, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 3002.58, 'policy_inference_avg_ms': 1112.1, 'env_step_s': 817.894, 'env_step_avg_ms': 302.9, 'video_write_s': 28.139, 'video_write_avg_ms': 10.4, 'wall_total_s': 3848.613, 'it_per_sec': 0.7}, score: 0.3333333432674408, reason: Condition not satisfied: object_grabbed(object=whitepackerbottle_a02) (step 1/2), harness_episode_id: 7c00319baed445cc9f423799ad19f977-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T17:20:56Z [9,951,757ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.224895 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T17:21:00Z [9,956,088ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:21:00Z [9,956,088ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:21:00Z [9,956,099ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:21:00Z [9,956,099ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:21:00Z [9,956,106ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:21:00Z [9,956,113ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T17:21:00Z [9,956,131ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T17:21:01Z [9,956,940ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,956,940ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,011ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,011ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,042ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,042ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-28T17:21:01Z [9,957,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,957,615ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,957,615ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,957,691ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((477))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,957,691ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((477))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,484ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,484ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((386))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,485ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,486ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,486ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((400))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,486ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,487ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,488ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,488ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((435))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,490ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((477))' not available in the MDL representation.
+2026-10-28T17:21:02Z [9,958,491ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((477))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.619832 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json.
+ReorientWhiteMugsTask_0 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_0, run: 0, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: True, episode_step: 255, duration: 17.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.883578903711804, 'joint_sparc_mean': -5.801653675508475, 'ee_isj': 416.23129558809524, 'joint_isj': 35384.67373348372, 'ee_path_length': 1.6672871680100654, 'joint_rmse_mean': 1.8912778307333873, 'ee_speed_max': 0.2867233455181122, 'ee_speed_mean': 0.09321778267621994}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 3, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 421.999, 'policy_inference_avg_ms': 1654.9, 'env_step_s': 68.372, 'env_step_avg_ms': 268.1, 'video_write_s': 2.264, 'video_write_avg_ms': 8.9, 'wall_total_s': 492.635, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: eb1bdae02a7b407296a2f4e1ebe9be38-0
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json.
+ReorientWhiteMugsTask_1 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_1, run: 1, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.342451621028065, 'joint_sparc_mean': -14.467210463428888, 'ee_isj': 39798.27466945804, 'joint_isj': 1875612.9643434105, 'ee_path_length': 9.09694305912462, 'joint_rmse_mean': 2.0362493214437407, 'ee_speed_max': 3.0042471885681152, 'ee_speed_mean': 0.14783762395381927}, events: {'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'GRIPPER_FULLY_CLOSED': 6, 'OBJECT_BUMPED': 9, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 931.078, 'policy_inference_avg_ms': 1034.5, 'env_step_s': 248.351, 'env_step_avg_ms': 275.9, 'video_write_s': 7.778, 'video_write_avg_ms': 8.6, 'wall_total_s': 1187.206, 'it_per_sec': 0.76}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 0142af14a9eb484f9378c018187c1c7c-1
+[RoboLab] Running ReorientWhiteMugsTask_2: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json.
+ReorientWhiteMugsTask_2 complete: task_name: ReorientWhiteMugsTask, run_name: ReorientWhiteMugsTask_2, run: 2, env_id: 0, policy: harness, instruction: Make sure all the white mugs are upright so that the opening is facing upwards., attributes: ['reorientation', 'color', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.524370762355941, 'joint_sparc_mean': -9.183822163076561, 'ee_isj': 1575.7647637033056, 'joint_isj': 47840.360663215666, 'ee_path_length': 4.9867658471142535, 'joint_rmse_mean': 1.642707764380426, 'ee_speed_max': 0.8911617994308472, 'ee_speed_mean': 0.07935430109500885}, events: {'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 11, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_FULLY_CLOSED': 8, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['ceramic_mug', 'ceramic_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1187.024, 'policy_inference_avg_ms': 1318.9, 'env_step_s': 248.584, 'env_step_avg_ms': 276.2, 'video_write_s': 9.211, 'video_write_avg_ms': 10.2, 'wall_total_s': 1444.819, 'it_per_sec': 0.62}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 01155890eab846fbaa430d8c5dfc9b43-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T18:14:17Z [13,153,379ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.262158 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T18:14:20Z [13,155,815ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T18:14:20Z [13,155,930ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T18:14:20Z [13,155,930ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:14:20Z [13,155,939ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T18:14:20Z [13,155,939ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:14:20Z [13,155,946ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:14:20Z [13,155,953ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+[INFO]: Time taken for simulation start : 3.613175 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BlockStackingSpecifiedOrderTask               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the blocks in the order from bottom to top: red, blue, green, yellow │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BlockStackingSpecifiedOrderTaskSceneEnvCfg    │
+│  Attributes  : stacking, color, complex                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BlockStackingSpecifiedOrderTask_0: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json.
+BlockStackingSpecifiedOrderTask_0 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 609, duration: 40.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.769917954007538, 'joint_sparc_mean': -8.564360250613072, 'ee_isj': 765.2376098597474, 'joint_isj': 17343.331128903366, 'ee_path_length': 3.644575933412749, 'joint_rmse_mean': 1.6801926751584446, 'ee_speed_max': 0.34563228487968445, 'ee_speed_mean': 0.08567561954259872}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 5, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 585.352, 'policy_inference_avg_ms': 961.2, 'env_step_s': 126.804, 'env_step_avg_ms': 208.2, 'video_write_s': 6.199, 'video_write_avg_ms': 10.2, 'wall_total_s': 718.355, 'it_per_sec': 0.85}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 09f1f58c485e45658115a38f79320dae-0
+[RoboLab] Running BlockStackingSpecifiedOrderTask_1: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 1, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json.
+BlockStackingSpecifiedOrderTask_1 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 578, duration: 38.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.682846550284459, 'joint_sparc_mean': -7.0658650122688105, 'ee_isj': 1026.6829491052067, 'joint_isj': 9651.419757399755, 'ee_path_length': 3.8815014196057245, 'joint_rmse_mean': 1.684728970213648, 'ee_speed_max': 0.3448043167591095, 'ee_speed_mean': 0.09462681412696838}, events: {'GRIPPER_HIT_TABLE': 4, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 3, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 2, 'wrong_objects_grabbed': ['green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 801.554, 'policy_inference_avg_ms': 1386.8, 'env_step_s': 121.756, 'env_step_avg_ms': 210.6, 'video_write_s': 4.915, 'video_write_avg_ms': 8.5, 'wall_total_s': 928.225, 'it_per_sec': 0.62}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: ee0d68d436cf47a4a64aa0f8563d46ef-1
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json.
+BlockStackingSpecifiedOrderTask_2 complete: task_name: BlockStackingSpecifiedOrderTask, run_name: BlockStackingSpecifiedOrderTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the blocks in the order from bottom to top: red, blue, green, yellow, attributes: ['stacking', 'color', 'complex'], success: True, episode_step: 808, duration: 53.86666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.130914925081627, 'joint_sparc_mean': -8.837297291758379, 'ee_isj': 873.4535537521083, 'joint_isj': 11439.096944129755, 'ee_path_length': 4.484657479229869, 'joint_rmse_mean': 1.779321004856593, 'ee_speed_max': 0.35364478826522827, 'ee_speed_mean': 0.07869085669517517}, events: {'GRIPPER_HIT_TABLE': 5, 'WRONG_OBJECT_GRABBED': 7, 'GRIPPER_HIT_OBJECT': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['blue_block', 'red_block', 'blue_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 599.098, 'policy_inference_avg_ms': 741.5, 'env_step_s': 172.051, 'env_step_avg_ms': 212.9, 'video_write_s': 7.488, 'video_write_avg_ms': 9.3, 'wall_total_s': 778.637, 'it_per_sec': 1.04}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 8c882859ab444ff1825e2119e012897e-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T18:55:59Z [15,655,029ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.215626 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T18:56:03Z [15,659,494ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T18:56:03Z [15,659,495ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:56:03Z [15,659,504ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T18:56:03Z [15,659,505ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:56:04Z [15,659,513ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:56:04Z [15,659,521ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T18:56:04Z [15,660,327ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((869))' not available in the MDL representation.
+2026-10-28T18:56:04Z [15,660,327ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__chrome/Shader::::OmniPBR::OmniPBR((869))' not available in the MDL representation.
+2026-10-28T18:56:04Z [15,660,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((872))' not available in the MDL representation.
+2026-10-28T18:56:04Z [15,660,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((872))' not available in the MDL representation.
+2026-10-28T18:56:04Z [15,660,366ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((875))' not available in the MDL representation.
+2026-10-28T18:56:04Z [15,660,367ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((875))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,660,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((892))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,660,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((892))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,118ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,118ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((944))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,166ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,166ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,191ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,191ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,409ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((982))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,409ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/left_bin/Looks/opaque__metal__rough/Shader::::OmniPBR::OmniPBR((982))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,469ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((989))' not available in the MDL representation.
+2026-10-28T18:56:05Z [15,661,469ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((989))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,235ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((872))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,235ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((872))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,236ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((875))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((875))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((892))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((892))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,243ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,243ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((960))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,244ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,244ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,246ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((989))' not available in the MDL representation.
+2026-10-28T18:56:06Z [15,662,246ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((989))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 7.103337 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ClampInRightBinTask                           │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the spring clamp in the right bin         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ClampInRightBinTaskSceneEnvCfg                │
+│  Attributes  : semantics, spatial, simple                    │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ClampInRightBinTask_0: 'Put the spring clamp in the right bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_0_env0.json.
+ClampInRightBinTask_0 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.413345098304339, 'joint_sparc_mean': -16.951290178535157, 'ee_isj': 837.0392543842818, 'joint_isj': 69374.40218569536, 'ee_path_length': 3.9403359451591395, 'joint_rmse_mean': 1.6971936260009544, 'ee_speed_max': 0.40838727355003357, 'ee_speed_mean': 0.06373553723096848}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 14, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 8}, instruction_type: default, timing: {'policy_inference_s': 1102.802, 'policy_inference_avg_ms': 1225.3, 'env_step_s': 220.848, 'env_step_avg_ms': 245.4, 'video_write_s': 9.456, 'video_write_avg_ms': 10.5, 'wall_total_s': 1333.106, 'it_per_sec': 0.68}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 3f54a6f2702945a0a51efff4ada19703-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_1_env0.json.
+ClampInRightBinTask_1 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.843012740431947, 'joint_sparc_mean': -18.470136425583668, 'ee_isj': 1251.8289820102596, 'joint_isj': 51821.70350257862, 'ee_path_length': 4.166490894066538, 'joint_rmse_mean': 1.6229104843120936, 'ee_speed_max': 0.46923360228538513, 'ee_speed_mean': 0.0679876059293747}, events: {'GRIPPER_FULLY_CLOSED': 13, 'TARGET_OBJECT_DROPPED': 19, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 989.031, 'policy_inference_avg_ms': 1098.9, 'env_step_s': 223.346, 'env_step_avg_ms': 248.2, 'video_write_s': 9.328, 'video_write_avg_ms': 10.4, 'wall_total_s': 1221.705, 'it_per_sec': 0.74}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 0ca367ceba0e4b7cb49e6d173b790f48-1
+[RoboLab] Running ClampInRightBinTask_2: 'Put the spring clamp in the right bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_2_env0.json.
+ClampInRightBinTask_2 complete: task_name: ClampInRightBinTask, run_name: ClampInRightBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the spring clamp in the right bin, attributes: ['semantics', 'spatial', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.496631621820907, 'joint_sparc_mean': -12.353883261329091, 'ee_isj': 1144.7017282547818, 'joint_isj': 31041.183350790667, 'ee_path_length': 5.51003440239922, 'joint_rmse_mean': 1.7775964120002474, 'ee_speed_max': 0.5369967222213745, 'ee_speed_mean': 0.0890575647354126}, events: {'GRIPPER_HIT_TABLE': 5, 'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1165.072, 'policy_inference_avg_ms': 1294.5, 'env_step_s': 222.639, 'env_step_avg_ms': 247.4, 'video_write_s': 8.97, 'video_write_avg_ms': 10.0, 'wall_total_s': 1396.681, 'it_per_sec': 0.64}, score: 0.0, reason: Condition not satisfied: object_in_container(object=spring_clamp, container=right_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: e21139c769194a7e838b4b2d538eee6d-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:03:07Z [19,682,649ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.233084 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:03:11Z [19,686,877ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:03:11Z [19,686,877ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:03:11Z [19,686,888ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:03:11Z [19,686,888ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:03:11Z [19,686,899ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:03:11Z [19,686,908ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:03:11Z [19,687,135ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((1054))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,136ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((1054))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,347ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((1070))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,347ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__red_plasticpail/Shader::::OmniPBR::OmniPBR((1070))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,360ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((1077))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,361ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((1077))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,362ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((1078))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,362ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((1078))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,374ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((1085))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,374ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__violet_plasticpail/Shader::::OmniPBR::OmniPBR((1085))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,379ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((1088))' not available in the MDL representation.
+2026-10-28T20:03:11Z [19,687,379ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__white_plasticpail/Shader::::OmniPBR::OmniPBR((1088))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,595ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1101))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,595ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1101))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,609ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((1106))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,609ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__black_plasticpail/Shader::::OmniPBR::OmniPBR((1106))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,635ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1113))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,635ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1113))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,669ms] [Warning] [omni.hydra] Parameter 'coat_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,669ms] [Warning] [omni.hydra] Parameter 'coat_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_color' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'diffuse_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'enable_diffuse_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'enable_specular_transmission' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'metalness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,670ms] [Warning] [omni.hydra] Parameter 'specular_reflection_ior' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,671ms] [Warning] [omni.hydra] Parameter 'specular_reflection_roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,671ms] [Warning] [omni.hydra] Parameter 'specular_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,671ms] [Warning] [omni.hydra] Parameter 'specular_retro_reflection_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,671ms] [Warning] [omni.hydra] Parameter 'specular_transmission_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,671ms] [Warning] [omni.hydra] Parameter 'subsurface_weight' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1130))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,689ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((1139))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,689ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/trans__plastic__natural_plasticpail/Shader::::OmniPBR::OmniPBR((1139))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1141))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,687,700ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1141))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,174ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((1171))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,174ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((1171))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,366ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,366ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,388ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1187))' not available in the MDL representation.
+2026-10-28T20:03:12Z [19,688,388ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1187))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,727ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((1249))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,727ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__yellow_plasticpail/Shader::::OmniPBR::OmniPBR((1249))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,750ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1255))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,750ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1255))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((1270))' not available in the MDL representation.
+2026-10-28T20:03:13Z [19,688,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((1270))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,569ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1101))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,569ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((1101))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,570ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1113))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,570ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__grey_plasticpail/Shader::::OmniPBR::OmniPBR((1113))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1141))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,573ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((1141))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((1176))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,576ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1187))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,576ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((1187))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,580ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1255))' not available in the MDL representation.
+2026-10-28T20:03:14Z [19,689,580ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((1255))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.810143 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : OneBottleInSquarePailTask                     │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put any white plastic bottle in the square pail │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : OneBottleInSquarePailTaskSceneEnvCfg          │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running OneBottleInSquarePailTask_0: 'Put any white plastic bottle in the square pail' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json.
+OneBottleInSquarePailTask_0 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_0, run: 0, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: True, episode_step: 391, duration: 26.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.171673738303862, 'joint_sparc_mean': -7.470075169261999, 'ee_isj': 725.7867103193961, 'joint_isj': 75026.70205753852, 'ee_path_length': 2.7182207752604883, 'joint_rmse_mean': 1.5817601895406332, 'ee_speed_max': 0.4419495165348053, 'ee_speed_mean': 0.09967239201068878}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 369.663, 'policy_inference_avg_ms': 945.4, 'env_step_s': 117.721, 'env_step_avg_ms': 301.1, 'video_write_s': 3.539, 'video_write_avg_ms': 9.1, 'wall_total_s': 490.923, 'it_per_sec': 0.8}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b15dcb6d136f45dcb1e9d0864c9a9737-0
+[RoboLab] Running OneBottleInSquarePailTask_1: 'Put any white plastic bottle in the square pail' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json.
+OneBottleInSquarePailTask_1 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_1, run: 1, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.227663405958724, 'joint_sparc_mean': -12.712620163651376, 'ee_isj': 2478.827879452524, 'joint_isj': 38056.73784656933, 'ee_path_length': 5.386848782849049, 'joint_rmse_mean': 1.5402799475861941, 'ee_speed_max': 0.7441856265068054, 'ee_speed_mean': 0.08628296852111816}, events: {'OBJECT_BUMPED': 4, 'GRIPPER_FULLY_CLOSED': 11, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 3, 'WRONG_OBJECT_GRABBED': 8, 'GRIPPER_HIT_OBJECT': 2, 'wrong_objects_grabbed': ['utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02', 'utilityjug_a01', 'utilityjug_a01']}, instruction_type: default, timing: {'policy_inference_s': 976.634, 'policy_inference_avg_ms': 1085.1, 'env_step_s': 268.223, 'env_step_avg_ms': 298.0, 'video_write_s': 6.346, 'video_write_avg_ms': 7.1, 'wall_total_s': 1251.203, 'it_per_sec': 0.72}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 563a1506b08348b8be911e66157d822a-1
+[RoboLab] Running OneBottleInSquarePailTask_2: 'Put any white plastic bottle in the square pail' (run 2, 1 envs)
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json.
+OneBottleInSquarePailTask_2 complete: task_name: OneBottleInSquarePailTask, run_name: OneBottleInSquarePailTask_2, run: 2, env_id: 0, policy: harness, instruction: Put any white plastic bottle in the square pail, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.235824742637556, 'joint_sparc_mean': -12.871087894325024, 'ee_isj': 1672.9472475228417, 'joint_isj': 63620.675296077934, 'ee_path_length': 6.257778047559766, 'joint_rmse_mean': 1.6822780987150523, 'ee_speed_max': 0.3296155631542206, 'ee_speed_mean': 0.09889747947454453}, events: {'GRIPPER_FULLY_CLOSED': 10, 'TARGET_OBJECT_DROPPED': 4, 'OBJECT_BUMPED': 5, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_TABLE': 3, 'wrong_objects_grabbed': ['utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 966.093, 'policy_inference_avg_ms': 1073.4, 'env_step_s': 269.749, 'env_step_avg_ms': 299.7, 'video_write_s': 8.62, 'video_write_avg_ms': 9.6, 'wall_total_s': 1244.462, 'it_per_sec': 0.72}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 2d6fb8858ad94492bdf69e3d4d34673d-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:53:49Z [22,724,640ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.213709 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:53:51Z [22,727,484ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:53:51Z [22,727,484ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:53:51Z [22,727,493ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:53:51Z [22,727,493ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:53:51Z [22,727,500ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:53:51Z [22,727,507ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:53:52Z [22,727,899ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1411))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,727,899ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1411))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,727,960ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1437))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,727,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1437))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,727,971ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1443))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,727,971ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1443))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,728,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1508))' not available in the MDL representation.
+2026-10-28T20:53:52Z [22,728,099ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1508))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1411))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1411))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1437))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1437))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1443))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,675ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1443))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,679ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1508))' not available in the MDL representation.
+2026-10-28T20:53:53Z [22,728,679ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1508))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.925078 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RedItemsInBinTask                             │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put all the red things in the grey bin        │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RedItemsInBinTaskSceneEnvCfg                  │
+│  Attributes  : color, sorting, moderate                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RedItemsInBinTask_0: 'Put all the red things in the grey bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json.
+RedItemsInBinTask_0 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 526, duration: 35.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.10970570097825, 'joint_sparc_mean': -7.612902088534481, 'ee_isj': 1631.3446334160578, 'joint_isj': 20462.20219381311, 'ee_path_length': 4.41503563438115, 'joint_rmse_mean': 1.5829750773283533, 'ee_speed_max': 1.1457210779190063, 'ee_speed_mean': 0.1215115562081337}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 465.851, 'policy_inference_avg_ms': 885.6, 'env_step_s': 119.957, 'env_step_avg_ms': 228.1, 'video_write_s': 5.59, 'video_write_avg_ms': 10.6, 'wall_total_s': 591.399, 'it_per_sec': 0.89}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d22ecbee17b0483ab7fc72bbe424c3ea-0
+[RoboLab] Running RedItemsInBinTask_1: 'Put all the red things in the grey bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json.
+RedItemsInBinTask_1 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 631, duration: 42.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.616364113106066, 'joint_sparc_mean': -9.062608490306545, 'ee_isj': 2106.2375962886213, 'joint_isj': 53777.57828928927, 'ee_path_length': 4.996227170784854, 'joint_rmse_mean': 1.5213555011406181, 'ee_speed_max': 0.6458667516708374, 'ee_speed_mean': 0.11596345901489258}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 8}, instruction_type: default, timing: {'policy_inference_s': 420.277, 'policy_inference_avg_ms': 666.0, 'env_step_s': 147.288, 'env_step_avg_ms': 233.4, 'video_write_s': 5.592, 'video_write_avg_ms': 8.9, 'wall_total_s': 573.157, 'it_per_sec': 1.1}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a28e4d5c45bf4b67b105eeb978428384-1
+[RoboLab] Running RedItemsInBinTask_2: 'Put all the red things in the grey bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json.
+RedItemsInBinTask_2 complete: task_name: RedItemsInBinTask, run_name: RedItemsInBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put all the red things in the grey bin, attributes: ['color', 'sorting', 'moderate'], success: True, episode_step: 451, duration: 30.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.454292109671489, 'joint_sparc_mean': -6.856608086428193, 'ee_isj': 744.1379236654336, 'joint_isj': 14494.65279267251, 'ee_path_length': 3.455411979743418, 'joint_rmse_mean': 1.5572901767330418, 'ee_speed_max': 0.5134791135787964, 'ee_speed_mean': 0.10942073166370392}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 324.846, 'policy_inference_avg_ms': 720.3, 'env_step_s': 102.132, 'env_step_avg_ms': 226.5, 'video_write_s': 3.37, 'video_write_avg_ms': 7.5, 'wall_total_s': 430.348, 'it_per_sec': 1.05}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 39ff01df7ae24838b8514049c65eea25-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:21:08Z [24,363,541ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.180034 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:21:11Z [24,367,030ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:21:11Z [24,367,030ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:21:11Z [24,367,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:21:11Z [24,367,040ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:21:11Z [24,367,050ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:21:11Z [24,367,058ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:21:12Z [24,367,980ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1637))' not available in the MDL representation.
+2026-10-28T21:21:12Z [24,367,980ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1637))' not available in the MDL representation.
+2026-10-28T21:21:12Z [24,368,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1673))' not available in the MDL representation.
+2026-10-28T21:21:12Z [24,368,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1673))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,368,734ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1749))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,368,734ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1749))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,299ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1637))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,299ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((1637))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,302ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1673))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,302ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1673))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,306ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1749))' not available in the MDL representation.
+2026-10-28T21:21:13Z [24,369,306ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1749))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.687914 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaThenRubiksCubeTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : put the banana then the cube in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaThenRubiksCubeTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaThenRubiksCubeTask_0: 'put the banana then the cube in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_0_env0.json.
+BananaThenRubiksCubeTask_0 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_0, run: 0, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.979242031547292, 'joint_sparc_mean': -6.812253070057404, 'ee_isj': 1794.6415434841074, 'joint_isj': 70344.06037897273, 'ee_path_length': 4.5864190603352615, 'joint_rmse_mean': 1.6854378104560133, 'ee_speed_max': 0.46290358901023865, 'ee_speed_mean': 0.08377937972545624}, events: {'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 835.919, 'policy_inference_avg_ms': 928.8, 'env_step_s': 191.168, 'env_step_avg_ms': 212.4, 'video_write_s': 8.42, 'video_write_avg_ms': 9.4, 'wall_total_s': 1035.507, 'it_per_sec': 0.87}, score: 0.0, reason: Condition not satisfied: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 9e955d94fc394bfa8180c23e240903ed-0
+[RoboLab] Running BananaThenRubiksCubeTask_1: 'put the banana then the cube in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_1_env0.json.
+BananaThenRubiksCubeTask_1 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_1, run: 1, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.615491917590552, 'joint_sparc_mean': -7.18980896119209, 'ee_isj': 2035.2682710641534, 'joint_isj': 107808.37084288875, 'ee_path_length': 4.808938116089161, 'joint_rmse_mean': 1.8747050537009895, 'ee_speed_max': 0.4193699359893799, 'ee_speed_mean': 0.079844631254673}, events: {'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 1, 'WRONG_OBJECT_GRABBED': 7, 'OBJECT_BUMPED': 15, 'GRIPPER_HIT_TABLE': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'wrong_objects_grabbed': ['banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 995.02, 'policy_inference_avg_ms': 1105.6, 'env_step_s': 185.682, 'env_step_avg_ms': 206.3, 'video_write_s': 7.178, 'video_write_avg_ms': 8.0, 'wall_total_s': 1187.881, 'it_per_sec': 0.76}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=rubiks_cube) (step 1/2), harness_episode_id: 84ab794966e74a4a9b4c09e29ec0ebcc-1
+[RoboLab] Running BananaThenRubiksCubeTask_2: 'put the banana then the cube in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_2_env0.json.
+BananaThenRubiksCubeTask_2 complete: task_name: BananaThenRubiksCubeTask, run_name: BananaThenRubiksCubeTask_2, run: 2, env_id: 0, policy: harness, instruction: put the banana then the cube in the bowl, attributes: ['conjunction', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.788356195370374, 'joint_sparc_mean': -13.614509208025202, 'ee_isj': 597.044170412009, 'joint_isj': 32406.132331555604, 'ee_path_length': 3.626710213509354, 'joint_rmse_mean': 1.7997967302083708, 'ee_speed_max': 0.40324845910072327, 'ee_speed_mean': 0.05747300013899803}, events: {'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 583.495, 'policy_inference_avg_ms': 648.3, 'env_step_s': 172.939, 'env_step_avg_ms': 192.2, 'video_write_s': 7.389, 'video_write_avg_ms': 8.2, 'wall_total_s': 763.823, 'it_per_sec': 1.18}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=rubiks_cube) (step 1/2), harness_episode_id: e7bfc9848ca94b8aa792ea4cfb4dcfc8-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:11:52Z [27,408,176ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.182075 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:11:56Z [27,411,904ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:11:56Z [27,411,904ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:11:56Z [27,411,915ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:11:56Z [27,411,915ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:11:56Z [27,411,924ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:11:56Z [27,411,931ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:11:56Z [27,412,419ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1930))' not available in the MDL representation.
+2026-10-28T22:11:56Z [27,412,420ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1930))' not available in the MDL representation.
+2026-10-28T22:11:57Z [27,413,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1930))' not available in the MDL representation.
+2026-10-28T22:11:57Z [27,413,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1930))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.857985 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MustardInLeftBinTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the mustard in the left bin               │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MustardInLeftBinTaskSceneEnvCfg               │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MustardInLeftBinTask_0: 'Put the mustard in the left bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.463656924184264, 'joint_sparc_mean': -10.74891909422731, 'ee_isj': 957.8364978661351, 'joint_isj': 51751.32522464248, 'ee_path_length': 2.9797565236976595, 'joint_rmse_mean': 1.5268612054164272, 'ee_speed_max': 0.39583584666252136, 'ee_speed_mean': 0.0959392786026001}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 335.416, 'policy_inference_avg_ms': 745.4, 'env_step_s': 82.038, 'env_step_avg_ms': 182.3, 'video_write_s': 3.627, 'video_write_avg_ms': 8.1, 'wall_total_s': 421.081, 'it_per_sec': 1.07}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 8adb4f6d4ce0431380c835f757121523-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 211, duration: 14.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.504815794492232, 'joint_sparc_mean': -3.4902078715969105, 'ee_isj': 278.8453247822028, 'joint_isj': 2627.0397459492992, 'ee_path_length': 1.5030916433120705, 'joint_rmse_mean': 1.5367394001688022, 'ee_speed_max': 0.28338754177093506, 'ee_speed_mean': 0.10289260745048523}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 243.646, 'policy_inference_avg_ms': 1154.7, 'env_step_s': 41.207, 'env_step_avg_ms': 195.3, 'video_write_s': 2.156, 'video_write_avg_ms': 10.2, 'wall_total_s': 287.01, 'it_per_sec': 0.74}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b8b92d5915534df3a95250e812495330-1
+[RoboLab] Running MustardInLeftBinTask_2: 'Put the mustard in the left bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: False, episode_step: 450, duration: 30.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.522788669802973, 'joint_sparc_mean': -8.344708719712782, 'ee_isj': 1171.5163991770482, 'joint_isj': 37603.22316472021, 'ee_path_length': 3.0327640308177513, 'joint_rmse_mean': 1.6910320688088742, 'ee_speed_max': 0.3591727316379547, 'ee_speed_mean': 0.1003359705209732}, events: {'GRIPPER_HIT_TABLE': 3, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 400.392, 'policy_inference_avg_ms': 889.8, 'env_step_s': 85.203, 'env_step_avg_ms': 189.3, 'video_write_s': 3.86, 'video_write_avg_ms': 8.6, 'wall_total_s': 489.455, 'it_per_sec': 0.92}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: a0daa74f94eb4211a26e21d5b012174b-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:32:42Z [28,657,766ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda:4
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.182319 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:32:45Z [28,661,471ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:32:45Z [28,661,472ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:32:45Z [28,661,482ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:32:45Z [28,661,482ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:32:45Z [28,661,491ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:32:45Z [28,661,498ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:32:47Z [28,662,810ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2186))' not available in the MDL representation.
+2026-10-28T22:32:47Z [28,662,810ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2186))' not available in the MDL representation.
+2026-10-28T22:32:48Z [28,663,707ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2186))' not available in the MDL representation.
+2026-10-28T22:32:48Z [28,663,708ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2186))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.865346 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BowlStackingRightOnLeftTask                   │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Stack the right bowl on the left bowl         │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BowlStackingRightOnLeftTaskSceneEnvCfg        │
+│  Attributes  : spatial, simple                               │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BowlStackingRightOnLeftTask_0: 'Stack the right bowl on the left bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json.
+BowlStackingRightOnLeftTask_0 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 178, duration: 11.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.160857531435531, 'joint_sparc_mean': -3.9821250715842744, 'ee_isj': 230.2112347650717, 'joint_isj': 15348.838357366903, 'ee_path_length': 1.2100886502024237, 'joint_rmse_mean': 1.8292407682730119, 'ee_speed_max': 0.25441381335258484, 'ee_speed_mean': 0.10186450183391571}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3}, instruction_type: default, timing: {'policy_inference_s': 304.942, 'policy_inference_avg_ms': 1713.2, 'env_step_s': 33.139, 'env_step_avg_ms': 186.2, 'video_write_s': 1.97, 'video_write_avg_ms': 11.1, 'wall_total_s': 340.052, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 1b32d9d4abb2439fba5c749b116777eb-0
+[RoboLab] Running BowlStackingRightOnLeftTask_1: 'Stack the right bowl on the left bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json.
+BowlStackingRightOnLeftTask_1 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_1, run: 1, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 228, duration: 15.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.042195727599045, 'joint_sparc_mean': -4.730766854252745, 'ee_isj': 222.24479050885577, 'joint_isj': 9485.278933261936, 'ee_path_length': 1.3799722570645025, 'joint_rmse_mean': 1.7335481091227776, 'ee_speed_max': 0.3091602325439453, 'ee_speed_mean': 0.08623559772968292}, events: {'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['bowl_1']}, instruction_type: default, timing: {'policy_inference_s': 325.388, 'policy_inference_avg_ms': 1427.1, 'env_step_s': 41.05, 'env_step_avg_ms': 180.0, 'video_write_s': 2.442, 'video_write_avg_ms': 10.7, 'wall_total_s': 368.88, 'it_per_sec': 0.62}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 2700bc269f5f4a80885e4a57a8836260-1
+[RoboLab] Running BowlStackingRightOnLeftTask_2: 'Stack the right bowl on the left bowl' (run 2, 1 envs)
+
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100%|█████████▉| 299/300 [07:15<00:01,  1.46s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json.
+BowlStackingRightOnLeftTask_2 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_2, run: 2, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.175884317173946, 'joint_sparc_mean': -5.209770453203514, 'ee_isj': 242.07537307503165, 'joint_isj': 2883.6876215902207, 'ee_path_length': 1.4382590993307915, 'joint_rmse_mean': 1.7093323018205988, 'ee_speed_max': 0.2268625795841217, 'ee_speed_mean': 0.06792841106653214}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 5, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl_1', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 380.831, 'policy_inference_avg_ms': 1269.4, 'env_step_s': 51.565, 'env_step_avg_ms': 171.9, 'video_write_s': 2.716, 'video_write_avg_ms': 9.1, 'wall_total_s': 435.112, 'it_per_sec': 0.69}, score: 0.0, reason: Condition not satisfied: object_in_container(object=['bowl_1'], container=bowl_2, gripper_name=gripper, require_contact_with=True, require_gripper_detached=True) (step 1/1), harness_episode_id: c6223c683b184a40b3920c8e8b85118c-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (9 tasks)                 11/27    40.7%   [24.5-59.4]    0.494        0.146       29.49   -6.72    5.56       9.3         0.80 18.0       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        0/3      0.0%    [0.6-60.2]     0.333        0.333       -       -6.79    4.34       7.4         0.94 16.6       
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           44.33   -5.86    4.00       8.6         0.84 13.5       
+BowlStackingRightOnLeftTask     2/3      66.7%   [19.4-93.2]    0.667        0.000       13.53   -3.79    1.34       8.5         0.61 6.4        
+ClampInRightBinTask             0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -8.25    4.54       7.4         0.69 22.0       
+MustardInLeftBinTask            1/3      33.3%   [6.8-80.6]     0.333        0.000       14.07   -5.16    2.51       10.0        0.91 6.7        
+OneBottleInSquarePailTask       1/3      33.3%   [6.8-80.6]     0.333        0.000       26.07   -7.21    4.79       9.5         0.75 16.6       
+PlasticBottlesInSquarePailTask  0/3      0.0%    [0.6-60.2]     0.444        0.444       -       -11.47   19.01      10.2        0.85 54.2       
+RedItemsInBinTask               3/3      100.0%  [39.8-99.4]    1.000        -           35.73   -5.06    4.29       11.6        1.01 8.9        
+ReorientWhiteMugsTask           1/3      33.3%   [6.8-80.6]     0.333        0.000       17.00   -6.92    5.25       10.7        0.63 17.4       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
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+2026-10-28T15:19:23.555743Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"`/bin/bash -c 'rm -f ik.py cam0.png cam1.png wrist.png'` rejected: rm -f style commands are not permitted. Use a safer approach\")" }
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"instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a12f93c84fae4f316cecc4004fd424f537c1beac
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 52, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 669, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.062m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..658c8a7e0807d363585c986ed3efb4cde512c7d3
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BananaThenRubiksCubeTask/log_1_env0.json
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"unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a065c39d40e2d3f800c48f78bbe7c9f751cd608
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 609, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 212, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 226, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.116m", "score": 0.0}, {"step": 256, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.138m", "score": 0.0}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.085m", "score": 0.0}, {"step": 285, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 286, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 391, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 391, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 421, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.360m", "score": 0.33}, {"step": 436, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.081m", "score": 0.33}, {"step": 447, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 557, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 609, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec63e58c092a21faec2cd69a89c859f3e6f8cc9
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 578, "events": [{"step": 74, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 196, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 201, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 206, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 269, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 271, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.205m", "score": 0.33}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 418, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 423, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.377m", "score": 0.66}, {"step": 496, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 496, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 541, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.361m", "score": 0.66}, {"step": 578, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa04416906ff439da49cd76e46ad780d697b81b0
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..09cb334c8c0c8546c9fc2dc9d8c3f0c57db812d0
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 40, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 169, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 173, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 184, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 184, 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{"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 768, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 875, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a2976326741b705252e2be13abd739787262da
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ClampInRightBinTask/log_1_env0.json
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