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"{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_note/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..15da8ebcdd17a147b43d4386e9ace0686a8c3759
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a021112d8e35e3b5cdbb13fcdd7bb687af18f
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json
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+INFO:src.evaluation.robolab_bench.episode_stats:Episode 84eeda9c7c694e818808c24e2e07b440-1 (codex/gpt-6-astra) ended: wall=1573.954s harness=979.897s tokens=4698713 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=64.465620867908 rate_limit_wait=0 rate_limit_count=0 excluded=11.340894296765327 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_1/harness/20261101T163918.145429Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 360329b1bf254f75be5a5853d00214c3-2 (codex/gpt-6-astra) ended: wall=1045.066s harness=460.341s tokens=2934776 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=10.12650590389967 rate_limit_wait=0 rate_limit_count=0 excluded=10.12650590389967 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_1/harness/20261101T163918.145429Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 77d00b91ea28406bb37c571451be8795-0 (codex/gpt-6-astra) ended: wall=717.464s harness=632.039s tokens=2812471 usage_complete=True decisions=36 executed_steps=282 steps_complete=True network_wait=60.74412062764168 rate_limit_wait=0 rate_limit_count=0 excluded=60.74412062764168 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_1/harness/20261101T163918.145429Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6fabd338c9354c9fb2ec9bbcd47b54d7-1 (codex/gpt-6-astra) ended: wall=457.650s harness=399.460s tokens=2122950 usage_complete=True decisions=25 executed_steps=194 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_note/gpu_1/harness/20261101T163918.145429Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8906b6d4b78044709608d14be1e6c0e6-2 (codex/gpt-6-astra) ended: wall=229.384s harness=192.751s tokens=744875 usage_complete=True decisions=15 executed_steps=118 steps_complete=True network_wait=3.3744335398077965 rate_limit_wait=0 rate_limit_count=0 excluded=3.3744335398077965 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_1/harness/20261101T163918.145429Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 42094) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_note/gpu_2/client.log b/harness_robolab_exploration/embo_note/gpu_2/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..ba4b5eb29aa7c49b2e6ea704ba83a76ed59f2844
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_2/client.log
@@ -0,0 +1,518 @@
+[2026-11-01T16:39:15Z] GPU 2: Starting worker at MarkerInMugTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:2
+[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_20261101_163920.log
+2026-11-01T16:39:20Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-01T16:39:20Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-01T16:39:20Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-01T16:39:20Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-01T16:39:20Z [137ms] [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'
+2026-11-01T16:39:20Z [140ms] [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'
+2026-11-01T16:39:20Z [144ms] [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'
+2026-11-01T16:39:20Z [147ms] [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'
+2026-11-01T16:39:21Z [186ms] [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'
+2026-11-01T16:39:21Z [284ms] [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'
+2026-11-01T16:39:21Z [410ms] [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'
+2026-11-01T16:39:21Z [490ms] [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'
+2026-11-01T16:39:21Z [603ms] [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'
+2026-11-01T16:39:25Z [5,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:25Z [5,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,196ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,777ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,787ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:29Z [8,788ms] [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          | Yes: 0 |     | 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          |        |     | 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: 918399
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,960ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,960ms] [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 
+     0 898.04   1.24   2.90   2.83   3.06   3.98   2.66   9.75 
+     1   1.63 878.30   3.28   2.41   4.76   3.88   2.19   5.64 
+     2   3.40   3.61 844.14   3.15   4.40   3.72   4.64   5.58 
+     3   3.23   4.27   4.28 901.10   7.40   5.67   2.69   6.90 
+     4   4.79   4.91   4.11   5.55 904.26   6.34  12.87  12.36 
+     5   5.49   5.65   6.09   6.09   4.65 905.80   7.98   8.39 
+     6   6.66   5.54   5.15   5.52   8.72  11.95 904.75   9.94 
+     7   6.03   8.14   7.19   8.62   9.24  13.26  13.67 902.14 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.47  13.12  13.15  13.97  13.70  13.84  13.16  13.35 
+     1  13.43   1.43  12.96  14.49  13.13  12.81  12.16  12.67 
+     2  11.90  13.09   1.42  13.22  13.01  13.70  14.46  14.08 
+     3  14.30  15.57  15.51   1.54  13.02  13.51  13.17  13.07 
+     4  10.00  13.82  13.68  10.15   1.40  13.50  14.81  16.49 
+     5  13.08  15.69  15.51  14.89  15.53   1.47  12.59  16.20 
+     6  11.35  16.13  15.24  13.34  12.53  14.26   1.46  13.39 
+     7  11.47  11.35  11.52  16.95  16.62  16.83  16.91   1.35 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.72   8.99   8.63   8.42   7.69   8.13   8.09   8.00 
+     1   8.60   2.59   8.83   8.45   7.30   7.52   8.12   8.07 
+     2   8.67   8.83   2.64   8.40   7.56   7.52   8.02   8.05 
+     3   8.55   8.45   8.71   2.69   7.67   7.39   8.04   7.91 
+     4   7.90   7.68   7.95   7.87   2.39   7.87  12.84  13.82 
+     5   8.70   7.95   8.33   9.33   7.09   2.30   7.72   7.43 
+     6   8.41   8.40   8.52   8.43   7.71   7.46   2.57   8.08 
+     7   9.08   8.69   8.96   8.84   8.15   7.83   8.59   2.94 
+2026-11-01T16:39:47Z [26,476ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.2 GB/s.
+2026-11-01T16:39:47Z [26,477ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 16.9 us.
+2026-11-01T16:39:47Z [26,477ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:51Z [30,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,195ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,288ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,302ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,489ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,489ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,500ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,500ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:52Z [31,619ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:55Z [34,834ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,367ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,878ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:22Z [62,158ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-01T16:40:22Z [62,160ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,801ms] [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.
+2026-11-01T16:40:29Z [68,184ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,185ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,185ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:29Z [68,227ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:29Z [68,312ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,312ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 2 task(s): ['MarkerInMugTask', 'BananaThenRubiksCubeTask']
+2026-11-01T16:40:44Z [83,582ms] [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@ <0x560e67755cd0>)
+
+2026-11-01T16:40:44Z [83,583ms] [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@ <0x560e67755cd0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, BananaThenRubiksCubeTask
+  Environments   : MarkerInMugTask, BananaThenRubiksCubeTask
+  Num Tasks      : 2
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_2/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
+2026-11-01T16:40:51Z [90,597ms] [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:2
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.335689 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...
+2026-11-01T16:40:57Z [96,820ms] [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.
+2026-11-01T16:40:57Z [96,821ms] [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.
+2026-11-01T16:40:57Z [96,857ms] [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.
+2026-11-01T16:40:57Z [96,858ms] [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.
+2026-11-01T16:40:57Z [96,865ms] [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.
+2026-11-01T16:40:57Z [96,872ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:57Z [97,124ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:57Z [97,161ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:41:00Z [99,661ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((42))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,662ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((42))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,870ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,888ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,889ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,899ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,899ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,913ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,917ms] [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.
+2026-11-01T16:41:00Z [99,917ms] [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.
+2026-11-01T16:41:00Z [100,129ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-01T16:41:00Z [100,129ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-01T16:41:00Z [100,135ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:00Z [100,135ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,248ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,248ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,253ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,253ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,290ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,290ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,290ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,300ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,300ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,304ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,304ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,320ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,320ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,317ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:04Z [103,660ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((42))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,660ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((42))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,664ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,664ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,665ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,665ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,666ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,666ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,667ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,667ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,667ms] [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.
+2026-11-01T16:41:04Z [103,667ms] [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.
+2026-11-01T16:41:04Z [103,668ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,668ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,669ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,669ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,670ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,670ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,671ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,671ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,673ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,674ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,674ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 10.870998 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_2/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: 288, duration: 19.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.99273611858939, 'joint_sparc_mean': -9.587646267728562, 'ee_isj': 1597.1663644139135, 'joint_isj': 262969.9598639694, 'ee_path_length': 2.3716006086648767, 'joint_rmse_mean': 1.2585347871448236, 'ee_speed_max': 0.4391801953315735, 'ee_speed_mean': 0.11907267570495605}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 842.703, 'policy_inference_avg_ms': 2926.1, 'env_step_s': 157.318, 'env_step_avg_ms': 546.2, 'video_write_s': 2.787, 'video_write_avg_ms': 9.7, 'wall_total_s': 1002.808, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5356eafd3c19430cb4699206400dabbc-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_note/gpu_2/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: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.804504007873553, 'joint_sparc_mean': -18.736982310237117, 'ee_isj': 375199.4910854531, 'joint_isj': 2459122.46368374, 'ee_path_length': 8.94817994296363, 'joint_rmse_mean': 1.2332643282166262, 'ee_speed_max': 9.572088241577148, 'ee_speed_mean': 0.22395828366279602}, events: {'GRIPPER_HIT_TABLE': 4, 'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 9, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['ceramic_mug', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 1611.53, 'policy_inference_avg_ms': 2685.9, 'env_step_s': 330.09, 'env_step_avg_ms': 550.1, 'video_write_s': 5.64, 'video_write_avg_ms': 9.4, 'wall_total_s': 1947.259, 'it_per_sec': 0.31}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 8222087e3cad4a7eaa7b4d4c62574c8e-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_note/gpu_2/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': -12.971349766244021, 'joint_sparc_mean': -17.373759867281624, 'ee_isj': 11799.323547988788, 'joint_isj': 818936.662522124, 'ee_path_length': 5.547773999311349, 'joint_rmse_mean': 1.4760951370169135, 'ee_speed_max': 0.9547363519668579, 'ee_speed_mean': 0.13808782398700714}, events: {'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 7, 'OBJECT_BUMPED': 22}, instruction_type: default, timing: {'policy_inference_s': 1998.612, 'policy_inference_avg_ms': 3331.0, 'env_step_s': 324.963, 'env_step_avg_ms': 541.6, 'video_write_s': 5.464, 'video_write_avg_ms': 9.1, 'wall_total_s': 2329.04, 'it_per_sec': 0.26}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 6c443db820e3454a8b3b70dccb6c9243-2
+[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
+2026-11-01T18:10:40Z [5,479,896ms] [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:2
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.193531 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...
+2026-11-01T18:10:44Z [5,483,562ms] [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.
+2026-11-01T18:10:44Z [5,483,563ms] [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.
+2026-11-01T18:10:44Z [5,483,571ms] [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.
+2026-11-01T18:10:44Z [5,483,571ms] [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.
+2026-11-01T18:10:44Z [5,483,579ms] [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.
+2026-11-01T18:10:44Z [5,483,587ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T18:10:44Z [5,483,606ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T18:10:46Z [5,486,053ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((348))' not available in the MDL representation.
+2026-11-01T18:10:46Z [5,486,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((348))' not available in the MDL representation.
+2026-11-01T18:10:47Z [5,486,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:10:47Z [5,486,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:10:47Z [5,486,913ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:10:47Z [5,486,913ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,423ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((348))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,424ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((348))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,427ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,427ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,428ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:10:49Z [5,488,428ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.452444 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 : 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_note/gpu_2/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: 780, duration: 52.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.111223414131603, 'joint_sparc_mean': -14.889884667883704, 'ee_isj': 2285.1616126988197, 'joint_isj': 55759.20178426769, 'ee_path_length': 5.004228660834638, 'joint_rmse_mean': 1.1668218197813816, 'ee_speed_max': 0.45660513639450073, 'ee_speed_mean': 0.09222300350666046}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 14, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl']}, instruction_type: default, timing: {'policy_inference_s': 2421.576, 'policy_inference_avg_ms': 3104.6, 'env_step_s': 160.926, 'env_step_avg_ms': 206.3, 'video_write_s': 6.456, 'video_write_avg_ms': 8.3, 'wall_total_s': 2588.957, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 91370094fa9f4736b3f3df931f787171-0
+[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_note/gpu_2/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: True, episode_step: 409, duration: 27.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.22595540797853, 'joint_sparc_mean': -10.048918753658272, 'ee_isj': 1459.1156178957724, 'joint_isj': 20628.12418589483, 'ee_path_length': 2.8525755063983147, 'joint_rmse_mean': 1.131467585478425, 'ee_speed_max': 0.4012681543827057, 'ee_speed_mean': 0.09976477921009064}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1111.364, 'policy_inference_avg_ms': 2717.3, 'env_step_s': 85.211, 'env_step_avg_ms': 208.3, 'video_write_s': 3.793, 'video_write_avg_ms': 9.3, 'wall_total_s': 1200.368, 'it_per_sec': 0.34}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 63feebfd83cd4793af3e81f863e5c013-1
+[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_note/gpu_2/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: 314, duration: 20.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.480873987166083, 'joint_sparc_mean': -9.257581712530495, 'ee_isj': 1888.9339052867344, 'joint_isj': 111978.38524770165, 'ee_path_length': 2.4082720678158873, 'joint_rmse_mean': 1.0789831607767764, 'ee_speed_max': 0.6353492140769958, 'ee_speed_mean': 0.10941752046346664}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_BUMPED': 3, 'GRIPPER_FULLY_CLOSED': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 734.234, 'policy_inference_avg_ms': 2338.3, 'env_step_s': 64.367, 'env_step_avg_ms': 205.0, 'video_write_s': 2.886, 'video_write_avg_ms': 9.2, 'wall_total_s': 801.487, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 0005b9ec89ec481585f99526dcac2ff0-2
+-------------------------------------------------------------------- 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 (2 tasks)          4/6      66.7%   [29.0-90.1]    0.667        0.000       29.85   -8.60    4.52       13.0        0.32 27.4       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask 3/3      100.0%  [39.8-99.4]    1.000        -           33.40   -8.27    3.42       10.0        0.34 25.5       
+MarkerInMugTask          1/3      33.3%   [6.8-80.6]     0.333        0.000       19.20   -8.92    5.62       16.0        0.29 29.3       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_note/gpu_2/harness/20261101T163918.149771Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_note/gpu_2/harness/20261101T163918.149771Z_eval.episodes.jsonl
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+2026-11-01T16:49:32.371698Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
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+2026-11-01T17:08:18.540611Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_2/harness/20261101T163918.149771Z_eval/episode-0002/runtime_macr0a7w/workspace/camera.b64
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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:2", "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_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_1_env0.json
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_note/gpu_2/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
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{"arm_action": {"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}}}, "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": 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"_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "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 whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd305a537455f60ed617d0487b536081b3de6a9f
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 288, "events": [{"step": 10, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 93, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "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=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 288, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 288, "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_note/gpu_2/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fd1b478a665dc8ff6c797cae0111089053021f
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 600, "events": [{"step": 123, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "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=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "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=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 139, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 289, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 294, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 388, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 388, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['marker'])", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 440, "code": 0, "name": 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diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_2_env0.json
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--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/log_2_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_note/gpu_2/robolab/MarkerInMugTask/run_0.hdf5
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+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
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+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_2/harness/20261101T163918.149771Z_eval.episodes.jsonl
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+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
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diff --git a/harness_robolab_exploration/embo_note/gpu_3/client.log b/harness_robolab_exploration/embo_note/gpu_3/client.log
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+[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_20261101_163920.log
+2026-11-01T16:39:20Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-01T16:39:20Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-01T16:39:20Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-01T16:39:20Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [94ms] [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'
+2026-11-01T16:39:20Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-01T16:39:20Z [139ms] [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'
+2026-11-01T16:39:20Z [144ms] [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'
+2026-11-01T16:39:20Z [149ms] [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'
+2026-11-01T16:39:21Z [299ms] [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'
+2026-11-01T16:39:21Z [421ms] [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'
+2026-11-01T16:39:21Z [592ms] [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'
+2026-11-01T16:39:21Z [713ms] [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'
+2026-11-01T16:39:21Z [828ms] [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'
+2026-11-01T16:39:25Z [4,834ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:25Z [4,835ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:25Z [4,954ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,307ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,307ms] [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)
+2026-11-01T16:39:29Z [8,309ms] [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          | Yes: 0 |     | 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          |        |     | 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: 918618
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,512ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,513ms] [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 
+     0 909.41  16.46  18.50   8.74   9.05   8.12   3.28   3.70 
+     1   3.65 921.83  13.89  14.13  15.93  16.23  16.29  16.31 
+     2   3.28   6.60 915.89  14.60  15.67  13.52  15.91  16.18 
+     3   2.65   4.89  14.51 903.72  14.70  14.90  14.18  14.74 
+     4  19.55   2.39   5.71   4.26 900.72  15.53  15.15  17.20 
+     5  20.06   3.49  20.35  12.35  18.73 914.81  19.02  12.81 
+     6  10.09   4.02   1.43  17.34  15.61   9.67 881.77  11.19 
+     7  10.68  10.09   2.46   1.43  10.68   9.15  11.38 904.22 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.35  17.93  16.85 652.80  18.02  21.17  36.50  15.15 
+     1  15.67   1.42  14.11  26.11  64.64  14.27  58.90  20.79 
+     2  15.48  13.24   1.48  24.51  16.85  56.15  23.84  23.63 
+     3 605.53 595.79 1054.79   1.43 980.25 358.51 154.65  61.06 
+     4 569.71 424.05 384.87 431.15   1.36 421.35 413.13 422.99 
+     5  20.00  21.73  20.66  26.89  23.37   1.49  20.03  16.57 
+     6  19.79  21.27  30.76  28.89  20.23  15.87   1.45  12.54 
+     7  14.09  14.70  26.13  16.39  19.22  18.84  18.35   1.37 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.79   8.95   7.90   7.89   8.37   8.49   8.49   8.45 
+     1   8.24   2.66   7.70   7.81   8.65   8.37   8.51   8.39 
+     2   8.02   7.83   2.52   7.80   8.46   8.30   8.49   8.34 
+     3   7.91   7.82   8.35   2.58   8.75   8.52   8.58   8.59 
+     4   8.41   8.40   8.56   8.39   2.85   9.01   9.14   8.96 
+     5   8.32   8.22   8.17   8.18   9.27   2.75   8.94   8.95 
+     6   8.32   8.21   8.15   8.09   9.25   8.83   2.83   8.83 
+     7   8.26   8.14   7.94   7.99   8.89   8.72   9.16   2.79 
+2026-11-01T16:39:44Z [23,180ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.4 GB/s.
+2026-11-01T16:39:44Z [23,180ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1054.8 us.
+2026-11-01T16:39:44Z [23,181ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:48Z [27,170ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,170ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,309ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,309ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,323ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,323ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,547ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,547ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,553ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,553ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,561ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,562ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,909ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:53Z [33,060ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,367ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,946ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:22Z [62,158ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-01T16:40:22Z [62,161ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,801ms] [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.
+2026-11-01T16:40:28Z [68,059ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,061ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,063ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,080ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:28Z [68,097ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,097ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['SmallPumpkinInBinTask', 'FoodPacking1BoxesTask', 'BananaInBowlTask']
+2026-11-01T16:40:44Z [83,581ms] [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@ <0x55ad15edf5f0>)
+
+2026-11-01T16:40:44Z [83,582ms] [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@ <0x55ad15edf5f0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, FoodPacking1BoxesTask, BananaInBowlTask
+  Environments   : SmallPumpkinInBinTask, FoodPacking1BoxesTask, BananaInBowlTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/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
+2026-11-01T16:40:51Z [90,807ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.306308 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...
+2026-11-01T16:40:57Z [97,035ms] [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.
+2026-11-01T16:40:57Z [97,035ms] [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.
+2026-11-01T16:40:57Z [97,069ms] [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.
+2026-11-01T16:40:57Z [97,069ms] [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.
+2026-11-01T16:40:57Z [97,078ms] [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.
+2026-11-01T16:40:57Z [97,086ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:58Z [97,382ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:58Z [97,414ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:59Z [99,040ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((18))' not available in the MDL representation.
+2026-11-01T16:40:59Z [99,041ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((18))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,342ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,343ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,344ms] [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((60))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-01T16:41:01Z [100,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,991ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,991ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,992ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,994ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,994ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((97))' not available in the MDL representation.
+2026-11-01T16:41:05Z [105,073ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:05Z [105,073ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:05Z [105,073ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,221ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,222ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,223ms] [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((137))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,241ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,333ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,334ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,367ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,367ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,367ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,634ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,634ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,634ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-01T16:41:07Z [107,077ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:08Z [107,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((18))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((18))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,441ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((72))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,445ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,445ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,445ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,448ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,449ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,453ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,453ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,456ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-11-01T16:41:08Z [107,456ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.509185 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)
+
  0%|          | 0/900 [00:00<?, ?it/s]
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  6%|▌         | 54/900 [03:07<18:28,  1.31s/it]2026-11-01T16:44:18Z [297,297ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/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: 871, duration: 58.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.848660147370307, 'joint_sparc_mean': -13.860562651580578, 'ee_isj': 4905.713086429037, 'joint_isj': 178784.50302997342, 'ee_path_length': 6.567635536969178, 'joint_rmse_mean': 1.2013105470559708, 'ee_speed_max': 0.7457112073898315, 'ee_speed_mean': 0.10991305112838745}, events: {'OBJECT_BUMPED': 1, 'TARGET_OBJECT_DROPPED': 28, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_TABLE': 3, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['pomegranate01', 'orange_01', 'orange_01']}, instruction_type: default, timing: {'policy_inference_s': 2363.606, 'policy_inference_avg_ms': 2713.7, 'env_step_s': 595.835, 'env_step_avg_ms': 684.1, 'video_write_s': 6.651, 'video_write_avg_ms': 7.6, 'wall_total_s': 2966.092, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 4e2de4713d0242979cdb093bf491d57e-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_note/gpu_3/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: 862, duration: 57.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -13.80269652971555, 'joint_sparc_mean': -23.42513495588778, 'ee_isj': 6803.593653012889, 'joint_isj': 886001.6576934401, 'ee_path_length': 5.609708108019699, 'joint_rmse_mean': 1.5327577419881826, 'ee_speed_max': 0.9917296171188354, 'ee_speed_mean': 0.09146833419799805}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 11, 'GRIPPER_FULLY_CLOSED': 8, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['right_bin']}, instruction_type: default, timing: {'policy_inference_s': 3462.722, 'policy_inference_avg_ms': 4017.1, 'env_step_s': 596.096, 'env_step_avg_ms': 691.5, 'video_write_s': 6.643, 'video_write_avg_ms': 7.7, 'wall_total_s': 4065.461, 'it_per_sec': 0.21}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 77c2854c60524acdb709a79eae783d4a-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_note/gpu_3/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -14.798805985808066, 'joint_sparc_mean': -14.304441949357633, 'ee_isj': 9034.50598477159, 'joint_isj': 749564.2492250181, 'ee_path_length': 7.616197937315263, 'joint_rmse_mean': 1.2552555257815496, 'ee_speed_max': 1.2146002054214478, 'ee_speed_mean': 0.11949444562196732}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 5, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 3, 'TARGET_OBJECT_DROPPED': 17, 'GRIPPER_FULLY_CLOSED': 16, 'wrong_objects_grabbed': ['whitepackerbottle_a01', 'lemon_02', 'orange_01']}, instruction_type: default, timing: {'policy_inference_s': 3489.558, 'policy_inference_avg_ms': 3877.3, 'env_step_s': 606.203, 'env_step_avg_ms': 673.6, 'video_write_s': 7.187, 'video_write_avg_ms': 8.0, 'wall_total_s': 4102.948, 'it_per_sec': 0.22}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: 1df5513320e54186a2a613e16d01a72d-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
+2026-11-01T19:48:21Z [11,340,880ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.206895 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...
+2026-11-01T19:48:26Z [11,345,476ms] [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.
+2026-11-01T19:48:26Z [11,345,477ms] [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.
+2026-11-01T19:48:26Z [11,345,485ms] [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.
+2026-11-01T19:48:26Z [11,345,486ms] [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.
+2026-11-01T19:48:26Z [11,345,494ms] [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.
+2026-11-01T19:48:26Z [11,345,501ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T19:48:26Z [11,345,519ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T19:48:28Z [11,347,968ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-11-01T19:48:28Z [11,347,969ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,486ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,500ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,863ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-01T19:48:30Z [11,349,863ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,535ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,535ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,538ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,539ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,539ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,540ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((419))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,544ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-01T19:48:31Z [11,350,544ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.555320 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/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': -12.020841988452718, 'joint_sparc_mean': -14.810175150948302, 'ee_isj': 9946.269104548435, 'joint_isj': 1624021.2542333007, 'ee_path_length': 9.656186100691208, 'joint_rmse_mean': 1.51501747193973, 'ee_speed_max': 1.5131807327270508, 'ee_speed_mean': 0.1425892859697342}, events: {'GRIPPER_FULLY_CLOSED': 20, 'TARGET_OBJECT_DROPPED': 20, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['tomato_soup_can']}, instruction_type: default, timing: {'policy_inference_s': 3027.1, 'policy_inference_avg_ms': 3363.4, 'env_step_s': 196.446, 'env_step_avg_ms': 218.3, 'video_write_s': 7.788, 'video_write_avg_ms': 8.7, 'wall_total_s': 3231.334, 'it_per_sec': 0.28}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: cce8ecae4b3745aeb7c2a7324717f52f-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_note/gpu_3/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.228098649376139, 'joint_sparc_mean': -15.940649627544234, 'ee_isj': 639828.665822224, 'joint_isj': 3600078.6371393604, 'ee_path_length': 15.646699948369664, 'joint_rmse_mean': 1.515056950386288, 'ee_speed_max': 9.911410331726074, 'ee_speed_mean': 0.26467546820640564}, events: {'TARGET_OBJECT_DROPPED': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 2}, instruction_type: default, timing: {'policy_inference_s': 987.866, 'policy_inference_avg_ms': 1097.6, 'env_step_s': 193.987, 'env_step_avg_ms': 215.5, 'video_write_s': 7.106, 'video_write_avg_ms': 7.9, 'wall_total_s': 1188.959, 'it_per_sec': 0.76}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 8e9602997f264d189204627ae49af175-1
+[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_note/gpu_3/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: True, episode_step: 200, duration: 13.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.035085709693302, 'joint_sparc_mean': -7.323819293182841, 'ee_isj': 2244.382845870127, 'joint_isj': 173710.3880551432, 'ee_path_length': 2.4633221106597247, 'joint_rmse_mean': 1.2089310078612545, 'ee_speed_max': 1.066858172416687, 'ee_speed_mean': 0.1716212034225464}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 465.575, 'policy_inference_avg_ms': 2327.9, 'env_step_s': 44.629, 'env_step_avg_ms': 223.1, 'video_write_s': 2.141, 'video_write_avg_ms': 10.7, 'wall_total_s': 512.344, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1194bad577254203867d09ef6bcc3d3c-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
+2026-11-01T21:12:08Z [16,367,228ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.193732 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...
+2026-11-01T21:12:12Z [16,371,885ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T21:12:12Z [16,371,985ms] [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.
+2026-11-01T21:12:12Z [16,371,986ms] [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.
+2026-11-01T21:12:12Z [16,371,995ms] [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.
+2026-11-01T21:12:12Z [16,371,995ms] [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.
+2026-11-01T21:12:12Z [16,372,004ms] [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.
+2026-11-01T21:12:12Z [16,372,011ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T21:12:14Z [16,373,339ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-01T21:12:14Z [16,373,339ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-01T21:12:14Z [16,373,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((706))' not available in the MDL representation.
+2026-11-01T21:12:14Z [16,373,576ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((706))' not available in the MDL representation.
+2026-11-01T21:12:15Z [16,374,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-01T21:12:15Z [16,374,239ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-01T21:12:15Z [16,374,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((706))' not available in the MDL representation.
+2026-11-01T21:12:15Z [16,374,241ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((706))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.922721 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/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: 193, duration: 12.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.690505351444597, 'joint_sparc_mean': -5.507091638705575, 'ee_isj': 696.5979375304471, 'joint_isj': 64926.49336481159, 'ee_path_length': 1.5249998829886091, 'joint_rmse_mean': 1.1258390719369762, 'ee_speed_max': 0.5270973443984985, 'ee_speed_mean': 0.11167759448289871}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['banana']}, instruction_type: default, timing: {'policy_inference_s': 406.703, 'policy_inference_avg_ms': 2107.3, 'env_step_s': 38.757, 'env_step_avg_ms': 200.8, 'video_write_s': 2.303, 'video_write_avg_ms': 11.9, 'wall_total_s': 447.763, 'it_per_sec': 0.43}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: 744f63f5ae4047fa9bf851f93399ad52-0
+[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_note/gpu_3/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: 145, duration: 9.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.444131302437773, 'joint_sparc_mean': -5.250176725833448, 'ee_isj': 1365.5224305512427, 'joint_isj': 53401.64489834164, 'ee_path_length': 1.0122827075414138, 'joint_rmse_mean': 1.1756312846968877, 'ee_speed_max': 0.982196569442749, 'ee_speed_mean': 0.10869679600000381}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 238.849, 'policy_inference_avg_ms': 1647.2, 'env_step_s': 28.502, 'env_step_avg_ms': 196.6, 'video_write_s': 1.623, 'video_write_avg_ms': 11.2, 'wall_total_s': 268.974, 'it_per_sec': 0.54}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 865cc94718f94f4bb3df55c87ab8017c-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_note/gpu_3/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: 137, duration: 9.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.201587262839243, 'joint_sparc_mean': -5.303541990054086, 'ee_isj': 422.90448787131845, 'joint_isj': 19232.16135450347, 'ee_path_length': 1.0404010690746643, 'joint_rmse_mean': 1.1735665707046252, 'ee_speed_max': 0.44120916724205017, 'ee_speed_mean': 0.11202207952737808}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 201.512, 'policy_inference_avg_ms': 1470.9, 'env_step_s': 26.614, 'env_step_avg_ms': 194.3, 'video_write_s': 1.8, 'video_write_avg_ms': 13.1, 'wall_total_s': 229.927, 'it_per_sec': 0.6}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9b4d14436c4046cc9c1a932e42d3134b-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 (3 tasks)       6/9      66.7%   [34.8-87.8]    0.667        0.000       26.76   -8.90    5.68       13.7        0.41 31.5       
+---------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask      3/3      100.0%  [39.8-99.4]    1.000        -           10.56   -5.11    1.19       11.1        0.52 5.3        
+FoodPacking1BoxesTask 1/3      33.3%   [6.8-80.6]     0.333        0.000       13.33   -8.09    9.26       19.3        0.48 27.4       
+SmallPumpkinInBinTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       57.77   -13.48   6.60       10.7        0.24 61.9       
+---------------------------------------------------------------------------------------------------------------------------------------------------------
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+2026-11-01T17:31:51.864111Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_3/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_3/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f0d29eff184c14bb3fe444087f11922ee4b801
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_3/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": 51, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 99, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "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": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 193, "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}, 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object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 898, "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_note/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4e656966977cb94cd715af94c19d344b0c861cf
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..483ceb1f57d3671e8193a028a053dbaf01df0856
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_3/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": 871, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 47, "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": 49, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 49, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 50, "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": 52, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 52, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 53, "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": 54, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 54, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 55, "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": 56, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 56, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 57, "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": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 91, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 132, "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": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 145, "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": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "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": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 183, "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": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 194, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 195, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "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": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 226, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 245, "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": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 425, "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": 428, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 428, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 429, "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": 432, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 433, "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": 448, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 448, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 449, "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": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 451, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 451, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 473, "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": 489, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 489, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 494, "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": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 560, "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": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 563, "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": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 596, "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": 624, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 645, "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": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 650, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 679, "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": 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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 696, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 696, "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": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 732, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 736, "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": 738, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 748, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 767, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 768, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'orange_01' (target objects: ['pumpkinsmall'])", "score": 0.0}, {"step": 769, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'orange_01'", "score": 0.0}, {"step": 793, "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": 801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 809, "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": 819, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 821, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 821, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 832, "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": 871, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 871, "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_note/gpu_3/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8980c6bb74c984e6d870fcf84e95ad91c2c6ab4
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_3/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": 862, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 41, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'whitepackerbottle_a01'", "score": 0.0}, {"step": 51, "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": 70, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 70, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 71, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 86, "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": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 91, "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": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 157, "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": 159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 218, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "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": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 281, "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": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 312, "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": 321, "code": 263, "name": 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diff --git a/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_note/gpu_3/robolab/SmallPumpkinInBinTask/run_0.hdf5
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+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
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+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
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+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1df5513320e54186a2a613e16d01a72d-2 (codex/gpt-6-astra) ended: wall=3744.090s harness=3117.363s tokens=11325324 usage_complete=True decisions=113 executed_steps=900 steps_complete=True network_wait=359.6451780796051 rate_limit_wait=0 rate_limit_count=0 excluded=359.6451780796051 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cce8ecae4b3745aeb7c2a7324717f52f-0 (codex/gpt-6-astra) ended: wall=2887.149s harness=2670.304s tokens=11095372 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=344.77633073180914 rate_limit_wait=0 rate_limit_count=0 excluded=344.77633073180914 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8e9602997f264d189204627ae49af175-1 (codex/gpt-6-astra) ended: wall=1189.493s harness=976.424s tokens=5282705 usage_complete=False decisions=113 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_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1194bad577254203867d09ef6bcc3d3c-2 (codex/gpt-6-astra) ended: wall=450.400s harness=400.865s tokens=1799650 usage_complete=True decisions=25 executed_steps=200 steps_complete=True network_wait=62.08124525845051 rate_limit_wait=0 rate_limit_count=0 excluded=62.08124525845051 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 744f63f5ae4047fa9bf851f93399ad52-0 (codex/gpt-6-astra) ended: wall=444.429s harness=400.712s tokens=2071728 usage_complete=True decisions=25 executed_steps=193 steps_complete=True network_wait=3.4606088995933533 rate_limit_wait=0 rate_limit_count=0 excluded=3.4606088995933533 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 865cc94718f94f4bb3df55c87ab8017c-1 (codex/gpt-6-astra) ended: wall=269.076s harness=237.008s tokens=1071778 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_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9b4d14436c4046cc9c1a932e42d3134b-2 (codex/gpt-6-astra) ended: wall=230.022s harness=199.752s tokens=1496585 usage_complete=True decisions=18 executed_steps=137 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_note/gpu_3/harness/20261101T163918.151320Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 57548) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_note/gpu_4/client.log b/harness_robolab_exploration/embo_note/gpu_4/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..93c6e4b817156513615822c07b1abd5f0ef12913
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/client.log
@@ -0,0 +1,633 @@
+[2026-11-01T16:39:15Z] GPU 4: Starting worker at ReorientWhiteMugsTask/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_20261101_163920.log
+2026-11-01T16:39:20Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-01T16:39:20Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-01T16:39:20Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-01T16:39:20Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-01T16:39:20Z [133ms] [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'
+2026-11-01T16:39:20Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-01T16:39:20Z [139ms] [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'
+2026-11-01T16:39:20Z [144ms] [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'
+2026-11-01T16:39:21Z [181ms] [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'
+2026-11-01T16:39:21Z [280ms] [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'
+2026-11-01T16:39:21Z [406ms] [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'
+2026-11-01T16:39:21Z [524ms] [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'
+2026-11-01T16:39:21Z [674ms] [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'
+2026-11-01T16:39:26Z [5,794ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:26Z [5,795ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,871ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,921ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,922ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:29Z [8,923ms] [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: 918401
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,917ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,917ms] [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 
+     0 891.30   1.63   2.88   2.93   2.98   3.00   4.08   4.55 
+     1   2.01 903.18   3.29   1.86   4.09   3.51   4.43   5.16 
+     2   5.67   2.51 859.93   3.30   4.28   4.68   4.55   4.20 
+     3   4.88   5.08   3.73 880.28   3.59   4.16   3.31   4.27 
+     4  10.73   8.86   4.83   4.81 902.51   4.15   5.73   6.01 
+     5  16.49  16.15   6.03   5.58   6.24 915.35   6.14   4.50 
+     6  10.84  14.58  14.96   9.45   6.25   5.63 918.58   4.58 
+     7  19.34  21.44  20.03  20.77  13.16  11.47   6.17 916.42 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  34.32  11.51  20.57  11.36  11.36  11.63  15.12 
+     1  19.84   1.43  18.29  26.92  15.98  15.97  16.03  20.25 
+     2  11.33  33.65   1.41  21.61  11.42  11.26  11.34  14.41 
+     3  16.34  48.16  15.35   1.33  14.04  13.06  14.75  20.18 
+     4  11.90  25.76  42.76  16.25   1.42  14.21  14.17  24.46 
+     5  11.26  15.86  28.49  12.34  24.65   1.42  13.66  22.02 
+     6  14.60  12.69  32.54  11.19  27.31  10.64   1.38  22.26 
+     7 348.67 230.26 234.20 252.00 232.75 233.13 234.70   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.57   8.64   8.18   8.09   7.89   7.77   7.59   7.89 
+     1   8.69   2.80   8.29   8.09   7.67   7.38   7.54   7.40 
+     2   8.57   8.54   2.73   8.23   7.62   7.42   7.46   7.59 
+     3   8.28   8.32   8.32   2.63   7.59   7.42   7.50   7.60 
+     4   7.95   7.83   8.10   7.80   2.44   7.09   7.21   7.04 
+     5   7.76   7.60   7.78   7.56   7.13   2.36   6.95   7.04 
+     6   7.81   7.63   7.86   7.87   7.27   7.77   2.38   7.09 
+     7   7.70   7.41   7.51   7.85   7.21   7.20   7.23   2.50 
+2026-11-01T16:39:46Z [26,008ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.6 GB/s.
+2026-11-01T16:39:46Z [26,008ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 348.7 us.
+2026-11-01T16:39:46Z [26,008ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:49Z [28,460ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,460ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,520ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,530ms] [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)
+2026-11-01T16:39:49Z [28,666ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,666ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,672ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,672ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,677ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,677ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:50Z [29,207ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:53Z [33,055ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,363ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,943ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:22Z [62,153ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-01T16:40:22Z [62,156ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,800ms] [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.
+2026-11-01T16:40:28Z [68,055ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,056ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,058ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,076ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:28Z [68,093ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,094ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['ReorientWhiteMugsTask', 'RedItemsInBinTask', 'BowlStackingRightOnLeftTask']
+2026-11-01T16:40:44Z [83,577ms] [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@ <0x561ecb0e4d00>)
+
+2026-11-01T16:40:44Z [83,578ms] [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@ <0x561ecb0e4d00>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: ReorientWhiteMugsTask, RedItemsInBinTask, BowlStackingRightOnLeftTask
+  Environments   : ReorientWhiteMugsTask, RedItemsInBinTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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
+2026-11-01T16:40:48Z [87,921ms] [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 : 0.578023 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...
+2026-11-01T16:40:54Z [93,975ms] [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.
+2026-11-01T16:40:54Z [93,976ms] [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.
+2026-11-01T16:40:54Z [94,059ms] [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.
+2026-11-01T16:40:54Z [94,059ms] [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.
+2026-11-01T16:40:54Z [94,069ms] [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.
+2026-11-01T16:40:54Z [94,078ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:55Z [94,286ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:55Z [94,364ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:59Z [99,159ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-01T16:40:59Z [99,159ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,168ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,168ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,181ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,181ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,188ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,188ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,836ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,836ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-01T16:41:02Z [102,139ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:03Z [102,444ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,444ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,445ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,445ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,446ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,446ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,448ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.053855 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.831312215321533, 'joint_sparc_mean': -16.37958812933496, 'ee_isj': 1115275.5525683602, 'joint_isj': 7978495.67942873, 'ee_path_length': 26.95264252774739, 'joint_rmse_mean': 1.897934307959958, 'ee_speed_max': 9.650331497192383, 'ee_speed_mean': 0.46716612577438354}, events: {'WRONG_OBJECT_GRABBED': 7, 'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 18, 'OBJECT_OUT_OF_SCENE': 4, 'OBJECT_MOVED': 5, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 2656.792, 'policy_inference_avg_ms': 2952.0, 'env_step_s': 265.837, 'env_step_avg_ms': 295.4, 'video_write_s': 5.987, 'video_write_avg_ms': 6.7, 'wall_total_s': 2928.615, 'it_per_sec': 0.31}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 1eff48f5e3cc4f96ba1d4f7c820c9752-0
+[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_note/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: True, episode_step: 227, duration: 15.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.731814230382318, 'joint_sparc_mean': -8.096244186728056, 'ee_isj': 1673.3874818254976, 'joint_isj': 39310.0801930186, 'ee_path_length': 2.0724147001145763, 'joint_rmse_mean': 1.0175193989789948, 'ee_speed_max': 0.5076400637626648, 'ee_speed_mean': 0.1319667100906372}, events: {'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 6, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 779.678, 'policy_inference_avg_ms': 3434.7, 'env_step_s': 63.367, 'env_step_avg_ms': 279.1, 'video_write_s': 2.045, 'video_write_avg_ms': 9.0, 'wall_total_s': 845.09, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 24077ccc8e8c4c64b950cb9a9508e2bb-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_note/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': -10.515964379144407, 'joint_sparc_mean': -14.744067586661064, 'ee_isj': 6727.227916515108, 'joint_isj': 552621.0113095414, 'ee_path_length': 8.348660450891565, 'joint_rmse_mean': 1.3642997382392943, 'ee_speed_max': 1.051309585571289, 'ee_speed_mean': 0.128376767039299}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 10, 'GRIPPER_FULLY_CLOSED': 17, 'OBJECT_BUMPED': 14, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 2913.068, 'policy_inference_avg_ms': 3236.7, 'env_step_s': 260.07, 'env_step_avg_ms': 289.0, 'video_write_s': 6.95, 'video_write_avg_ms': 7.7, 'wall_total_s': 3180.089, 'it_per_sec': 0.28}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 3fb8308d97db4f3480831f4b6feb47ea-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
+2026-11-01T18:38:27Z [7,146,440ms] [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 : 0.198045 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...
+2026-11-01T18:38:31Z [7,150,536ms] [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.
+2026-11-01T18:38:31Z [7,150,536ms] [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.
+2026-11-01T18:38:31Z [7,150,547ms] [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.
+2026-11-01T18:38:31Z [7,150,547ms] [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.
+2026-11-01T18:38:31Z [7,150,557ms] [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.
+2026-11-01T18:38:31Z [7,150,565ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T18:38:31Z [7,150,586ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T18:38:32Z [7,151,288ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,332ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,332ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,533ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,533ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,922ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-11-01T18:38:32Z [7,151,922ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,704ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,704ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,708ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,708ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,710ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,713ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+2026-11-01T18:38:33Z [7,152,713ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((458))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.181537 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_note/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.935028490258134, 'joint_sparc_mean': -15.429633166884628, 'ee_isj': 6354.612086780511, 'joint_isj': 231345.86898589705, 'ee_path_length': 8.082975018826467, 'joint_rmse_mean': 1.0563643272465568, 'ee_speed_max': 0.7224606871604919, 'ee_speed_mean': 0.1294650137424469}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 17, 'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 14, 'WRONG_OBJECT_GRABBED': 5, 'OBJECT_BUMPED': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['grey_bin', 'grey_bin', 'grey_bin', 'grey_bin', 'grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 3554.711, 'policy_inference_avg_ms': 3949.7, 'env_step_s': 214.096, 'env_step_avg_ms': 237.9, 'video_write_s': 7.166, 'video_write_avg_ms': 8.0, 'wall_total_s': 3775.973, 'it_per_sec': 0.24}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=bowl) (step 1/2), harness_episode_id: d7ebd3a7b54f495885e4cc73e1dc0e13-0
+[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_note/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: 633, duration: 42.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.456915790549745, 'joint_sparc_mean': -14.191669308396513, 'ee_isj': 5067.001669539126, 'joint_isj': 414628.01146520185, 'ee_path_length': 6.3902207577928944, 'joint_rmse_mean': 1.1482965862796006, 'ee_speed_max': 0.959303081035614, 'ee_speed_mean': 0.14217475056648254}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 10, 'TARGET_OBJECT_DROPPED': 9, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 1657.085, 'policy_inference_avg_ms': 2617.8, 'env_step_s': 150.624, 'env_step_avg_ms': 238.0, 'video_write_s': 4.284, 'video_write_avg_ms': 6.8, 'wall_total_s': 1811.993, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5db82852db6d483ab5c87569d3e9a5b9-1
+[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_note/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: 414, duration: 27.599999999999998, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.141575277177383, 'joint_sparc_mean': -9.350832402834394, 'ee_isj': 5255.023306749647, 'joint_isj': 1217624.7447731062, 'ee_path_length': 4.484260086057477, 'joint_rmse_mean': 0.8882796417270571, 'ee_speed_max': 1.032483696937561, 'ee_speed_mean': 0.15556640923023224}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 6, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 1214.167, 'policy_inference_avg_ms': 2932.8, 'env_step_s': 96.047, 'env_step_avg_ms': 232.0, 'video_write_s': 3.093, 'video_write_avg_ms': 7.5, 'wall_total_s': 1313.308, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 297fb47ef6744fd0a86a82374d4d6c85-2
+[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
+2026-11-01T20:35:11Z [14,150,809ms] [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 : 0.184762 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...
+2026-11-01T20:35:15Z [14,154,761ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T20:35:15Z [14,154,965ms] [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.
+2026-11-01T20:35:15Z [14,154,965ms] [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.
+2026-11-01T20:35:15Z [14,154,975ms] [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.
+2026-11-01T20:35:15Z [14,154,975ms] [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.
+2026-11-01T20:35:15Z [14,154,984ms] [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.
+2026-11-01T20:35:15Z [14,154,992ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T20:35:18Z [14,157,705ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((617))' not available in the MDL representation.
+2026-11-01T20:35:18Z [14,157,705ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((617))' not available in the MDL representation.
+2026-11-01T20:35:20Z [14,159,243ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((617))' not available in the MDL representation.
+2026-11-01T20:35:20Z [14,159,244ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((617))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.356174 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 : 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_note/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: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.154170328040056, 'joint_sparc_mean': -9.35807089988558, 'ee_isj': 1736.5952357174533, 'joint_isj': 138746.16056400962, 'ee_path_length': 2.4480335558623763, 'joint_rmse_mean': 0.8625952117245977, 'ee_speed_max': 0.49570366740226746, 'ee_speed_mean': 0.11942052096128464}, events: {'GRIPPER_FULLY_CLOSED': 7, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 596.903, 'policy_inference_avg_ms': 1989.7, 'env_step_s': 56.523, 'env_step_avg_ms': 188.4, 'video_write_s': 2.366, 'video_write_avg_ms': 7.9, 'wall_total_s': 655.792, 'it_per_sec': 0.46}, 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: 3794c2c9b3d84c01a44e85104f1cb819-0
+[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_note/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: 153, duration: 10.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.861262334804258, 'joint_sparc_mean': -5.585211771021091, 'ee_isj': 602.4481290059882, 'joint_isj': 25134.672442520467, 'ee_path_length': 1.3016229792377878, 'joint_rmse_mean': 1.1203316873757676, 'ee_speed_max': 0.3667464256286621, 'ee_speed_mean': 0.12054063379764557}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2}, instruction_type: default, timing: {'policy_inference_s': 392.359, 'policy_inference_avg_ms': 2564.4, 'env_step_s': 30.232, 'env_step_avg_ms': 197.6, 'video_write_s': 1.569, 'video_write_avg_ms': 10.3, 'wall_total_s': 424.16, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: fbaada63ae364457889c294d5e7c721b-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_note/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: True, episode_step: 180, duration: 12.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.474394457034787, 'joint_sparc_mean': -7.273201642142346, 'ee_isj': 1172.7489280195837, 'joint_isj': 26834.55166582158, 'ee_path_length': 1.7422196236330132, 'joint_rmse_mean': 0.9811976363261843, 'ee_speed_max': 0.47142595052719116, 'ee_speed_mean': 0.13555601239204407}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 383.598, 'policy_inference_avg_ms': 2131.1, 'env_step_s': 33.223, 'env_step_avg_ms': 184.6, 'video_write_s': 1.631, 'video_write_avg_ms': 9.1, 'wall_total_s': 418.452, 'it_per_sec': 0.43}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 6f18354fe0884c878bdd8b435d0780ad-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 (3 tasks)             5/9      55.6%   [26.2-81.3]    0.611        0.125       21.43   -7.34    6.87       17.0        0.34 28.4       
+---------------------------------------------------------------------------------------------------------------------------------------------------------------
+BowlStackingRightOnLeftTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       11.10   -6.50    1.83       12.5        0.42 8.3        
+RedItemsInBinTask           2/3      66.7%   [19.4-93.2]    0.833        0.500       34.90   -8.18    6.32       14.2        0.30 38.3       
+ReorientWhiteMugsTask       1/3      33.3%   [6.8-80.6]     0.333        0.000       15.13   -7.36    12.46      24.3        0.29 38.6       
+---------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_note/gpu_4/harness/20261101T163918.147062Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_note/gpu_4/harness/20261101T163918.147062Z_eval.episodes.jsonl
new file mode 100644
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--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/harness/20261101T163918.147062Z_eval.episodes.jsonl
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+size 18194
diff --git a/harness_robolab_exploration/embo_note/gpu_4/harness/20261101T163918.147062Z_eval.jsonl b/harness_robolab_exploration/embo_note/gpu_4/harness/20261101T163918.147062Z_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": "Stack the right bowl on the left bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d42501cc220b5fe137ce38c0f382cd1cc5be4c
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": false, "final_step": 300, "events": [{"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 51, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 79, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 84, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.075m", "score": 0.0}, {"step": 146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 147, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 193, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl_2'", "score": 0.0}, {"step": 219, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 251, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 298, "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_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4953b2d196c9c1944c6c6d0df355ab6e2e66f09c
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 1, "success": true, "final_step": 153, "events": [{"step": 31, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_1'", "score": 0.0}, {"step": 97, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.248m", "score": 0.0}, {"step": 113, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_1' nudged 0.076m", "score": 0.0}, {"step": 153, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'stack_bowl_right_on_left' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5893a46dc1bb9907bab25a0e39bed521c62a42c9
--- /dev/null
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa49c1e22d89cc3c5a6b74912324a770be7da687
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "RedItemsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 32, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 35, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 96, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 106, "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": 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=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 164, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 228, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 241, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.052m", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 252, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 253, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.053m", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 260, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin' nudged 0.056m", "score": 0.0}, {"step": 300, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 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"code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.0}, {"step": 524, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 569, "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": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 602, "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": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin' (target objects: ['bowl', 'mug'])", "score": 0.0}, {"step": 610, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 611, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin'", "score": 0.0}, {"step": 611, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 611, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 653, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 665, "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": 672, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 672, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 673, "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": 679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 711, "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": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 715, "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": 716, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 716, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mug). regressing to step 0 for mug.", "score": 0.0}, {"step": 730, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 730, "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": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 770, "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": 802, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 804, "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": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}, {"step": 828, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 862, "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": 886, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 887, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 887, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bowl). regressing to step 0 for bowl.", "score": 0.5}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3d167f480253f9c7f2a480c073de0f1c4badfb
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json
@@ -0,0 +1 @@
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["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}}}, "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": ["upright_white_mug", "sideways_white_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_sideways_white_mug": [["functools.partial(<function object_grabbed at 0x7f1153f09a80>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f1154905580>, object='sideways_white_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_white_mugs"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientWhiteMugsTask", "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 all the white mugs are 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": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1257f2a0078193e387ca7bd6fa44c6a4d575a7
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/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": 74, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 81, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.059m", "score": 0.0}, {"step": 97, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 153, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 153, "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": 154, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 164, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 165, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 165, "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": 166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 174, "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": 176, "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": 179, "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": 225, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.138m", "score": 0.5}, {"step": 233, "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": 249, "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": 299, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.326m", "score": 0.5}, {"step": 322, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.067m", "score": 0.5}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.178m", "score": 0.5}, {"step": 405, "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": 406, "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": 407, "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": 408, "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": 431, "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": 443, "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": 449, "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": 452, "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": 457, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.367m", "score": 0.0}, {"step": 457, "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": 460, "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": 463, "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": 476, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 476, "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": 477, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 484, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 489, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.338m", "score": 0.5}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.5}, {"step": 495, "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": 497, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.075m", "score": 0.0}, {"step": 535, "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": 536, "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": 538, "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": 563, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.295m", "score": 0.5}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.231m", "score": 0.5}, {"step": 622, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.251m", "score": 0.5}, {"step": 633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.078m", "score": 0.5}, {"step": 658, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.170m", "score": 0.5}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.098m", "score": 0.5}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.106m", "score": 0.5}, {"step": 725, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.173m", "score": 0.5}, {"step": 735, "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": 736, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 760, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.475m", "score": 0.0}, {"step": 761, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 765, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_mug' displaced 0.522m", "score": 0.0}, {"step": 766, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'measuring_cup'", "score": 0.0}, {"step": 771, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'measuring_cup' displaced 0.774m", "score": 0.0}, {"step": 771, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'upright_white_mug'", "score": 0.0}, {"step": 775, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'upright_white_mug' displaced 1.055m", "score": 0.0}, {"step": 778, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.475m", "score": 0.0}, {"step": 779, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 783, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'sideways_white_mug' displaced 11.736m", "score": 0.0}, {"step": 800, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 4.011m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d3bf02d1d8182b752a26c90fb00dfc19e6e450
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 1, "success": true, "final_step": 227, "events": [{"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 66, "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": 73, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 73, "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": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.056m", "score": 0.0}, {"step": 115, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 129, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.062m", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 200, "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": 205, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 205, "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": 210, "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: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 212, "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": 219, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 219, "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": 220, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.063m", "score": 0.0}, {"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..50a5305813a29b6c821409e6db06e5c78f4a6fdb
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_5/client.log b/harness_robolab_exploration/embo_note/gpu_5/client.log
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+2026-11-01T16:39:20Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-01T16:39:20Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [88ms] [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'
+2026-11-01T16:39:20Z [132ms] [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'
+2026-11-01T16:39:20Z [135ms] [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'
+2026-11-01T16:39:20Z [138ms] [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'
+2026-11-01T16:39:20Z [143ms] [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'
+2026-11-01T16:39:21Z [180ms] [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'
+2026-11-01T16:39:21Z [273ms] [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'
+2026-11-01T16:39:21Z [387ms] [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'
+2026-11-01T16:39:21Z [521ms] [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'
+2026-11-01T16:39:21Z [678ms] [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'
+2026-11-01T16:39:25Z [5,107ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:25Z [5,107ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,195ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:28Z [8,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:28Z [8,082ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:28Z [8,084ms] [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          | Yes: 0 |     | 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: 918400
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,887ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,888ms] [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 
+     0 895.91   3.28   3.48   3.51   3.62   3.54   3.31   4.91 
+     1   2.19 924.56   4.64   4.35   9.81   4.84   3.66   9.05 
+     2  16.04  13.20 902.66   4.58   8.62  15.28  15.13  15.82 
+     3  15.40   3.63  16.84 924.56  17.66  14.55  13.96  14.76 
+     4  15.45   6.08   1.39  15.21 910.88  10.51  15.95  15.33 
+     5  11.02  10.55   2.97   1.49  20.13 914.81  21.94  19.02 
+     6  19.34  21.09  18.70   4.65  18.38  20.82 923.46  14.89 
+     7  13.42  14.88  14.47   6.54  19.71  22.41  22.57 940.13 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.42  20.78  27.15  16.33  16.97  18.34  11.52  11.52 
+     1  18.20   1.43  23.16  21.57  17.00  22.97  17.54  16.62 
+     2  18.94  27.11   1.47  20.36  16.61  20.88  12.36  15.60 
+     3  15.70  27.31  19.64   1.38  15.95  18.21  15.66  15.92 
+     4 404.43 447.44 481.60 484.00   1.41 440.54 639.45 404.39 
+     5  17.97  14.66  17.05  77.82  18.40   1.41  22.97  21.32 
+     6  12.35  15.50  14.04  20.90  16.90  26.44   1.35  19.85 
+     7  15.27  15.46  15.42  19.73  15.66  32.91  17.23   1.34 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.56   8.14   9.21   7.90   8.79   8.98   8.46   8.36 
+     1   8.09   2.56   7.85   7.85   8.74   8.48   8.55   8.42 
+     2   8.03   8.29   2.57   8.22   9.06   8.83   8.84   8.68 
+     3   8.15   7.88   8.08   2.64   8.87   8.59   8.87   8.49 
+     4   8.70   8.46   8.55   8.64   2.88   9.25   9.54   9.09 
+     5   8.36   8.21  11.74  16.34   9.73   2.89   9.43   9.40 
+     6   8.78   8.50   8.35   8.68   9.60   9.23   2.90   9.39 
+     7   8.49   8.27   8.48   8.52   9.73   9.39  10.78   2.84 
+2026-11-01T16:39:44Z [23,725ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.4 GB/s.
+2026-11-01T16:39:44Z [23,726ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 639.5 us.
+2026-11-01T16:39:44Z [23,726ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:48Z [27,164ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,164ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,304ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,304ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,317ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,317ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,542ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,542ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,548ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:48Z [27,556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,556ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,904ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:53Z [33,054ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,362ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,943ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:23Z [62,264ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,800ms] [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.
+2026-11-01T16:40:28Z [68,067ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,068ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,068ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,078ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-01T16:40:28Z [68,094ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,094ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['SpoonInMugTask', 'OneBottleInSquarePailTask', 'RubiksCubeThenBananaTask']
+2026-11-01T16:40:44Z [83,574ms] [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@ <0x55a3a9aff370>)
+
+2026-11-01T16:40:44Z [83,575ms] [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@ <0x55a3a9aff370>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SpoonInMugTask, OneBottleInSquarePailTask, RubiksCubeThenBananaTask
+  Environments   : SpoonInMugTask, OneBottleInSquarePailTask, RubiksCubeThenBananaTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_5/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
+2026-11-01T16:40:51Z [90,265ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.825339 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...
+2026-11-01T16:40:58Z [97,864ms] [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.
+2026-11-01T16:40:58Z [97,865ms] [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.
+2026-11-01T16:40:58Z [97,898ms] [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.
+2026-11-01T16:40:58Z [97,898ms] [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.
+2026-11-01T16:40:58Z [97,906ms] [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.
+2026-11-01T16:40:58Z [97,913ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:58Z [98,145ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:58Z [98,162ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:41:01Z [101,128ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-01T16:41:01Z [101,128ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-01T16:41:01Z [101,159ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:01Z [101,159ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:01Z [101,159ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,439ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,455ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,455ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,267ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,267ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,274ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,274ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,290ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,296ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,296ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,312ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,312ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,323ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,323ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,335ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,336ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,435ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,534ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:05Z [104,946ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,946ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,947ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,948ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,948ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((99))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,952ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,952ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,953ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,953ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,957ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((180))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.007133 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_5/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: 309, duration: 20.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.333622214104221, 'joint_sparc_mean': -7.384660469681397, 'ee_isj': 3758.1676702028253, 'joint_isj': 839242.0564883179, 'ee_path_length': 2.574708237922418, 'joint_rmse_mean': 1.1476703971356905, 'ee_speed_max': 0.7592838406562805, 'ee_speed_mean': 0.1225217804312706}, events: {'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 1100.053, 'policy_inference_avg_ms': 3560.0, 'env_step_s': 155.185, 'env_step_avg_ms': 502.2, 'video_write_s': 2.836, 'video_write_avg_ms': 9.2, 'wall_total_s': 1258.074, 'it_per_sec': 0.25}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2f214395e18841929f84902593504174-0
+[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_note/gpu_5/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': -3.7081759830568206, 'joint_sparc_mean': -8.475041235243367, 'ee_isj': 444641.0338845152, 'joint_isj': 3949937.862261718, 'ee_path_length': 10.967518639511452, 'joint_rmse_mean': 1.073395807627376, 'ee_speed_max': 9.681955337524414, 'ee_speed_mean': 0.18499021232128143}, events: {'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 6, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['granola_bars', 'wooden_bowl', 'grey_bin', 'grey_bin', 'grey_bin', 'grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 1426.506, 'policy_inference_avg_ms': 1585.0, 'env_step_s': 444.474, 'env_step_avg_ms': 493.9, 'video_write_s': 6.83, 'video_write_avg_ms': 7.6, 'wall_total_s': 1877.81, 'it_per_sec': 0.48}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 8736ba2891d546b186a13b80e9b07377-1
+[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_note/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -12.70802033581672, 'joint_sparc_mean': -18.078879527661083, 'ee_isj': 169459.44187798887, 'joint_isj': 2366083.3678208613, 'ee_path_length': 14.671690797032724, 'joint_rmse_mean': 1.291540223289344, 'ee_speed_max': 6.826189041137695, 'ee_speed_mean': 0.23880070447921753}, events: {'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_TABLE': 3, 'WRONG_OBJECT_GRABBED': 5, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 3064.944, 'policy_inference_avg_ms': 3405.5, 'env_step_s': 445.358, 'env_step_avg_ms': 494.8, 'video_write_s': 6.469, 'video_write_avg_ms': 7.2, 'wall_total_s': 3516.771, 'it_per_sec': 0.26}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: d257c4246f2142d6b6162666d1656c1a-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
+2026-11-01T18:33:30Z [6,849,335ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.230734 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...
+2026-11-01T18:33:34Z [6,853,465ms] [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.
+2026-11-01T18:33:34Z [6,853,465ms] [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.
+2026-11-01T18:33:34Z [6,853,476ms] [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.
+2026-11-01T18:33:34Z [6,853,476ms] [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.
+2026-11-01T18:33:34Z [6,853,485ms] [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.
+2026-11-01T18:33:34Z [6,853,492ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T18:33:34Z [6,853,511ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T18:33:34Z [6,853,741ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((289))' not available in the MDL representation.
+2026-11-01T18:33:34Z [6,853,741ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((289))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,310ms] [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((306))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,335ms] [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((306))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,380ms] [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((316))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,380ms] [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((316))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,422ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,422ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,429ms] [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((328))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,429ms] [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((328))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,457ms] [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((331))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,457ms] [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((331))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,488ms] [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((332))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,488ms] [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((332))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,514ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((340))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,514ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((340))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,558ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,558ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,651ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,651ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((373))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,660ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,660ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,888ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,889ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,891ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,891ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((393))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,924ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:33:37Z [6,856,924ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,349ms] [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((430))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,349ms] [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((430))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,595ms] [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((464))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,595ms] [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((464))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,898ms] [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((517))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,898ms] [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((517))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,921ms] [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((530))' not available in the MDL representation.
+2026-11-01T18:33:38Z [6,857,921ms] [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((530))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,476ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((289))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,476ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((289))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,478ms] [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((316))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,479ms] [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((316))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,480ms] [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((332))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,480ms] [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((332))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,481ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((340))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,481ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((340))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,483ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,483ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T18:33:39Z [6,858,485ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.039645 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 : 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_note/gpu_5/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: 101, duration: 6.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.7469739450148865, 'joint_sparc_mean': -4.670798426141929, 'ee_isj': 700.9185817292213, 'joint_isj': 7177.571169249188, 'ee_path_length': 1.122895725413945, 'joint_rmse_mean': 0.8982225477705471, 'ee_speed_max': 0.47834378480911255, 'ee_speed_mean': 0.15511883795261383}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 280.93, 'policy_inference_avg_ms': 2781.5, 'env_step_s': 32.494, 'env_step_avg_ms': 321.7, 'video_write_s': 1.191, 'video_write_avg_ms': 11.8, 'wall_total_s': 314.614, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5b00885caeae4e98bd2aa065d63ffc00-0
+[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_note/gpu_5/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: True, episode_step: 205, duration: 13.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.876103987788876, 'joint_sparc_mean': -6.049254960075643, 'ee_isj': 1137.8614607259083, 'joint_isj': 378680.9242474429, 'ee_path_length': 1.758528439935485, 'joint_rmse_mean': 1.1359673265887629, 'ee_speed_max': 0.47102341055870056, 'ee_speed_mean': 0.12513382732868195}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 477.638, 'policy_inference_avg_ms': 2329.9, 'env_step_s': 64.06, 'env_step_avg_ms': 312.5, 'video_write_s': 1.875, 'video_write_avg_ms': 9.1, 'wall_total_s': 543.573, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3140d6f02fb04a4788fad9b1b5f91dc4-1
+[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_note/gpu_5/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: 103, duration: 6.866666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9618606881305873, 'joint_sparc_mean': -5.589603834546302, 'ee_isj': 1139.5954105094709, 'joint_isj': 10466.351541409866, 'ee_path_length': 1.293376710256101, 'joint_rmse_mean': 0.8550002365347755, 'ee_speed_max': 0.44236063957214355, 'ee_speed_mean': 0.181886687874794}, events: {}, instruction_type: default, timing: {'policy_inference_s': 330.658, 'policy_inference_avg_ms': 3210.3, 'env_step_s': 32.726, 'env_step_avg_ms': 317.7, 'video_write_s': 1.241, 'video_write_avg_ms': 12.1, 'wall_total_s': 364.625, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b997f74c26e0472f9c3abf1d537fafcc-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
+2026-11-01T18:55:23Z [8,162,253ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.187772 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...
+2026-11-01T18:55:25Z [8,164,897ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T18:55:25Z [8,164,992ms] [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.
+2026-11-01T18:55:25Z [8,164,992ms] [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.
+2026-11-01T18:55:25Z [8,165,001ms] [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.
+2026-11-01T18:55:25Z [8,165,001ms] [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.
+2026-11-01T18:55:25Z [8,165,009ms] [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.
+2026-11-01T18:55:25Z [8,165,017ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T18:55:26Z [8,165,443ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((656))' not available in the MDL representation.
+2026-11-01T18:55:26Z [8,165,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((656))' not available in the MDL representation.
+2026-11-01T18:55:26Z [8,165,448ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-01T18:55:26Z [8,165,448ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-01T18:55:26Z [8,165,461ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-11-01T18:55:26Z [8,165,461ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((656))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((656))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((658))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,239ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+2026-11-01T18:55:27Z [8,166,239ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((661))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.905719 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_5/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: 247, duration: 16.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.1087262645313425, 'joint_sparc_mean': -7.950947369947305, 'ee_isj': 1277.7225344251365, 'joint_isj': 18911.871432572174, 'ee_path_length': 2.036914947867698, 'joint_rmse_mean': 1.0762394973650402, 'ee_speed_max': 0.5146600008010864, 'ee_speed_mean': 0.11643873155117035}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 747.994, 'policy_inference_avg_ms': 3028.3, 'env_step_s': 52.224, 'env_step_avg_ms': 211.4, 'video_write_s': 2.288, 'video_write_avg_ms': 9.3, 'wall_total_s': 802.506, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 69d0ce13c3f640cb811a9d3d329cd9d7-0
+[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_note/gpu_5/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: 607, duration: 40.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.895327112814284, 'joint_sparc_mean': -12.183519835476366, 'ee_isj': 1861.8642505623552, 'joint_isj': 137569.1632118402, 'ee_path_length': 3.82416990212485, 'joint_rmse_mean': 1.0768954073666708, 'ee_speed_max': 0.3168084919452667, 'ee_speed_mean': 0.0916016474366188}, events: {'GRIPPER_HIT_TABLE': 5, 'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 14}, instruction_type: default, timing: {'policy_inference_s': 1900.059, 'policy_inference_avg_ms': 3130.2, 'env_step_s': 126.057, 'env_step_avg_ms': 207.7, 'video_write_s': 4.476, 'video_write_avg_ms': 7.4, 'wall_total_s': 2030.592, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: a6af79a499c34bfba8ed92904c1081d9-1
+[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_note/gpu_5/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: 243, duration: 16.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.875286444885818, 'joint_sparc_mean': -7.604360910132988, 'ee_isj': 1035.3597793594322, 'joint_isj': 28515.390217608372, 'ee_path_length': 1.9614654170144297, 'joint_rmse_mean': 1.0759529757802004, 'ee_speed_max': 0.48360490798950195, 'ee_speed_mean': 0.11375262588262558}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 529.628, 'policy_inference_avg_ms': 2179.5, 'env_step_s': 50.567, 'env_step_avg_ms': 208.1, 'video_write_s': 2.421, 'video_write_avg_ms': 10.0, 'wall_total_s': 582.615, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: d4e727495f4c4ea099411b2cc81fadf9-2
+-------------------------------------------------------------------- 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 (3 tasks)           7/9      77.8%   [44.4-93.3]    0.778        0.000       17.29   -6.47    4.47       14.8        0.33 20.9       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------
+OneBottleInSquarePailTask 3/3      100.0%  [39.8-99.4]    1.000        -           9.09    -4.53    1.39       15.4        0.33 6.8        
+RubiksCubeThenBananaTask  3/3      100.0%  [39.8-99.4]    1.000        -           24.38   -7.29    2.61       10.7        0.34 19.0       
+SpoonInMugTask            1/3      33.3%   [6.8-80.6]     0.333        0.000       20.60   -7.58    9.40       18.2        0.33 37.0       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval.episodes.jsonl
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diff --git a/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0001/stderr.log
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+++ b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-11-01T16:41:36.978773Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0002/events.jsonl
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diff --git a/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0002/stderr.log
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@@ -0,0 +1 @@
+2026-11-01T17:03:09.080414Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0003/events.jsonl
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+2026-11-01T17:35:49.390965Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-11-01T17:46:19.341126Z ERROR codex_core::tools::router: error=apply_patch verification failed: invalid patch: multiple operations target /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/gpu_5/harness/20261101T163918.144861Z_eval/episode-0003/runtime_efbe5aki/workspace/camera_data.json
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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_note/gpu_5/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..080a0356fbd1f6ba70ba8648413b877bc33e92ec
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 0, "success": true, "final_step": 101, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 52, "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": 55, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 55, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 57, "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": 100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 101, "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_note/gpu_5/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d43c4f9714d3986ebbe1b81cd36991a02ec2972
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/robolab/OneBottleInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
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"policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d284ddb1c626aedd592cdd201585a8f955443d
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/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": 247, "events": [{"step": 24, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "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": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 111, "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": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 153, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 201, "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": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 242, "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_note/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64c6ad7014def11e9a01c7d2061d6e0d3afb178
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/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": 607, "events": [{"step": 55, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 75, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 85, "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": 88, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 88, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", 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"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_note/gpu_5/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..660e44c9e5fbe86a4126839f22b5e867fac04fb1
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/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": 309, "events": [{"step": 107, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 107, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 109, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 111, "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": 136, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 136, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 216, "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": 221, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 221, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 221, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "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": 227, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 227, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 248, "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": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 309, "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_note/gpu_5/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a6bbe59f3658cbbb12f10f1bad662771451bb3
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_5/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_5/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_5/robolab/SpoonInMugTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_6/client.log b/harness_robolab_exploration/embo_note/gpu_6/client.log
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+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [76ms] [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'
+2026-11-01T16:39:20Z [125ms] [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'
+2026-11-01T16:39:20Z [132ms] [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'
+2026-11-01T16:39:20Z [137ms] [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'
+2026-11-01T16:39:20Z [142ms] [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'
+2026-11-01T16:39:21Z [182ms] [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'
+2026-11-01T16:39:21Z [282ms] [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'
+2026-11-01T16:39:21Z [404ms] [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'
+2026-11-01T16:39:21Z [522ms] [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'
+2026-11-01T16:39:21Z [674ms] [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'
+2026-11-01T16:39:26Z [5,171ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:26Z [5,172ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,258ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,687ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,688ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:29Z [8,689ms] [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: 918396
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,926ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,926ms] [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 
+     0 891.73   1.37   2.89   2.77   3.27   3.58   4.27   5.16 
+     1   1.79 874.37   3.28   1.73   4.16   3.75   4.74   5.85 
+     2   5.22   2.74 857.10   3.52   4.02   5.20   4.75   4.29 
+     3   4.95   4.77   3.49 865.65   3.16   4.59   3.56   4.16 
+     4   9.71   5.43   5.02   4.55 904.09   4.42   6.44   4.19 
+     5   5.19   5.95   6.03   6.11   4.55 906.85   7.24   9.94 
+     6   6.48   5.17   4.96   6.84   8.67  12.66 919.66  10.14 
+     7   5.95   8.13   6.91   8.64   9.90  11.97  12.10 920.74 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  14.04  12.93  13.74  13.61  13.26  12.90  13.63 
+     1  13.74   1.42  12.76  14.29  13.10  12.97  12.43  13.45 
+     2  12.66  12.06   1.36  13.22  13.17  13.45  14.42  13.46 
+     3  14.80  15.24  15.02   1.53  13.08  13.21  12.99  12.91 
+     4  12.17  12.07  12.15  14.64   1.45  12.89  14.32  14.09 
+     5  15.73  15.37  15.16  15.91  15.53   1.37  17.12  15.93 
+     6  17.50  17.31  16.60  16.67  16.14  21.57   1.39  22.14 
+     7  17.68  17.10  16.69  16.84  21.74  16.64  16.62   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.87   8.53   8.00   7.88   8.92   8.63   8.62   8.55 
+     1   8.14   2.71   7.97   7.87   8.76   8.72   8.66   8.52 
+     2   8.07   7.94   2.69   7.89   8.84   8.69   8.72   8.55 
+     3   8.00   7.93   7.95   2.62   8.87   8.71   8.75   8.67 
+     4   8.68   8.56   8.53   8.48   5.52  15.62  21.79  14.37 
+     5   8.86   8.61   8.84   8.76   9.48   3.07   9.29   9.22 
+     6   8.58   8.33   8.45   8.35   9.43   9.30   2.80   9.24 
+     7   8.43   8.27   8.33   8.51   9.39   9.16   9.23   2.79 
+2026-11-01T16:39:47Z [26,479ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.4 GB/s.
+2026-11-01T16:39:47Z [26,480ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 22.1 us.
+2026-11-01T16:39:47Z [26,480ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:51Z [30,189ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,190ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,284ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,284ms] [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)
+2026-11-01T16:39:51Z [30,297ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,297ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,484ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,484ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,489ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,489ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:52Z [31,614ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:55Z [34,828ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,362ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,942ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:22Z [62,152ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-01T16:40:22Z [62,155ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,798ms] [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.
+2026-11-01T16:40:28Z [68,112ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,123ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:29Z [68,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'MustardInLeftBinTask']
+2026-11-01T16:40:44Z [83,574ms] [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@ <0x560e38d66630>)
+
+2026-11-01T16:40:44Z [83,575ms] [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@ <0x560e38d66630>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: BlockStackingSpecifiedOrderTask, ReorientRedMugTask, MustardInLeftBinTask
+  Environments   : BlockStackingSpecifiedOrderTask, ReorientRedMugTask, MustardInLeftBinTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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
+2026-11-01T16:40:48Z [87,920ms] [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 : 0.563905 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...
+2026-11-01T16:40:55Z [94,246ms] [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.
+2026-11-01T16:40:55Z [94,247ms] [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.
+2026-11-01T16:40:55Z [94,282ms] [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.
+2026-11-01T16:40:55Z [94,282ms] [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.
+2026-11-01T16:40:55Z [94,289ms] [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.
+2026-11-01T16:40:55Z [94,299ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:55Z [94,488ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:55Z [94,582ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:41:05Z [104,937ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 16.929118 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 : 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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: 309, duration: 20.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.684320973490026, 'joint_sparc_mean': -8.198706164505811, 'ee_isj': 2051.1174183373096, 'joint_isj': 31947.55398866858, 'ee_path_length': 3.024872221985357, 'joint_rmse_mean': 0.9485987161301832, 'ee_speed_max': 0.5780160427093506, 'ee_speed_mean': 0.1372816413640976}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 604.455, 'policy_inference_avg_ms': 1956.2, 'env_step_s': 71.125, 'env_step_avg_ms': 230.2, 'video_write_s': 2.689, 'video_write_avg_ms': 8.7, 'wall_total_s': 678.268, 'it_per_sec': 0.46}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 1d93399970494e67a5ac52806c4c0613-0
+[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_note/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: 462, duration: 30.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.94195945549443, 'joint_sparc_mean': -10.867099541822624, 'ee_isj': 2098.0976687231823, 'joint_isj': 23623.537053571228, 'ee_path_length': 3.482811958923121, 'joint_rmse_mean': 0.9364273333648317, 'ee_speed_max': 0.5606507658958435, 'ee_speed_mean': 0.10542728006839752}, events: {'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 7, 'GRIPPER_FULLY_CLOSED': 3, 'WRONG_OBJECT_GRABBED': 5, 'wrong_objects_grabbed': ['blue_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 987.824, 'policy_inference_avg_ms': 2138.1, 'env_step_s': 103.86, 'env_step_avg_ms': 224.8, 'video_write_s': 3.472, 'video_write_avg_ms': 7.5, 'wall_total_s': 1095.156, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 01cdb07fc23744ba89f0004c31d71838-1
+[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_note/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: True, episode_step: 416, duration: 27.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.461790979278183, 'joint_sparc_mean': -10.269700411049595, 'ee_isj': 2308.7544874200075, 'joint_isj': 24018.36420582691, 'ee_path_length': 3.482292814856109, 'joint_rmse_mean': 0.9601441982435599, 'ee_speed_max': 0.598243772983551, 'ee_speed_mean': 0.11792215704917908}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 6, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 706.254, 'policy_inference_avg_ms': 1697.7, 'env_step_s': 94.519, 'env_step_avg_ms': 227.2, 'video_write_s': 3.305, 'video_write_avg_ms': 7.9, 'wall_total_s': 804.077, 'it_per_sec': 0.52}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: daa44f52059b48bdabc0b16c316de639-2
+[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
+2026-11-01T17:25:33Z [2,772,544ms] [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 : 0.223421 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...
+2026-11-01T17:25:35Z [2,774,735ms] [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.
+2026-11-01T17:25:35Z [2,774,735ms] [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.
+2026-11-01T17:25:35Z [2,774,745ms] [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.
+2026-11-01T17:25:35Z [2,774,745ms] [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.
+2026-11-01T17:25:35Z [2,774,755ms] [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.
+2026-11-01T17:25:35Z [2,774,763ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T17:25:35Z [2,774,780ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T17:25:35Z [2,775,112ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T17:25:35Z [2,775,112ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,193ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,193ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,233ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,233ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,284ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,952ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,953ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((398))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,954ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((416))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((430))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-01T17:25:36Z [2,775,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.302510 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 : 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_note/gpu_6/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: True, episode_step: 305, duration: 20.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.1250956614516845, 'joint_sparc_mean': -5.092182816276045, 'ee_isj': 1388.4298547207072, 'joint_isj': 241093.1215651963, 'ee_path_length': 2.435828099929966, 'joint_rmse_mean': 0.9171565196692187, 'ee_speed_max': 0.5257875323295593, 'ee_speed_mean': 0.11210323125123978}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 887.119, 'policy_inference_avg_ms': 2908.6, 'env_step_s': 86.294, 'env_step_avg_ms': 282.9, 'video_write_s': 2.702, 'video_write_avg_ms': 8.9, 'wall_total_s': 976.115, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 4dcc30baff3b4ae5911bf97b9374c862-0
+[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_note/gpu_6/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: True, episode_step: 67, duration: 4.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.142527874176612, 'joint_sparc_mean': -3.6034739838971004, 'ee_isj': 321.1250309252722, 'joint_isj': 19552.184215234705, 'ee_path_length': 0.538328052196849, 'joint_rmse_mean': 0.8928046461585898, 'ee_speed_max': 0.2557254731655121, 'ee_speed_mean': 0.11708789318799973}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'wrong_objects_grabbed': ['red_mug']}, instruction_type: default, timing: {'policy_inference_s': 211.313, 'policy_inference_avg_ms': 3153.9, 'env_step_s': 18.981, 'env_step_avg_ms': 283.3, 'video_write_s': 1.095, 'video_write_avg_ms': 16.3, 'wall_total_s': 231.39, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: cef0340832064f32aaeebabf36d38b66-1
+[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_note/gpu_6/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: 142, duration: 9.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.073615785304656, 'joint_sparc_mean': -4.6551463312545485, 'ee_isj': 1068.3973801307839, 'joint_isj': 135459.04751812565, 'ee_path_length': 1.2883535101249683, 'joint_rmse_mean': 1.1833770283648788, 'ee_speed_max': 0.5386391282081604, 'ee_speed_mean': 0.13754674792289734}, events: {'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['red_mug']}, instruction_type: default, timing: {'policy_inference_s': 326.094, 'policy_inference_avg_ms': 2296.4, 'env_step_s': 41.981, 'env_step_avg_ms': 295.6, 'video_write_s': 1.334, 'video_write_avg_ms': 9.4, 'wall_total_s': 369.409, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 3aa31b8b1e74487e8c1ecd544917bc13-2
+[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
+2026-11-01T17:53:22Z [4,441,565ms] [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 : 0.194146 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...
+2026-11-01T17:53:26Z [4,445,637ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T17:53:26Z [4,445,739ms] [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.
+2026-11-01T17:53:26Z [4,445,739ms] [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.
+2026-11-01T17:53:26Z [4,445,749ms] [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.
+2026-11-01T17:53:26Z [4,445,749ms] [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.
+2026-11-01T17:53:26Z [4,445,757ms] [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.
+2026-11-01T17:53:26Z [4,445,765ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T17:53:27Z [4,446,434ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-11-01T17:53:27Z [4,446,434ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-11-01T17:53:28Z [4,447,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-11-01T17:53:28Z [4,447,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.303745 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_note/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': -9.4997930418124, 'joint_sparc_mean': -12.862731668121054, 'ee_isj': 3643.303014464026, 'joint_isj': 134789.87846496646, 'ee_path_length': 4.183573898399712, 'joint_rmse_mean': 1.0642160936974345, 'ee_speed_max': 0.9025134444236755, 'ee_speed_mean': 0.13712361454963684}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 12, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['grey_bin_right', 'grey_bin_right', 'grey_bin_right']}, instruction_type: default, timing: {'policy_inference_s': 1546.544, 'policy_inference_avg_ms': 3436.8, 'env_step_s': 91.376, 'env_step_avg_ms': 203.1, 'video_write_s': 3.482, 'video_write_avg_ms': 7.7, 'wall_total_s': 1641.403, 'it_per_sec': 0.27}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 4ee5c5acf359492bbd30e9c26d15aa35-0
+[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_note/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': -10.200545739762692, 'joint_sparc_mean': -11.041138292063463, 'ee_isj': 2210.2154947179006, 'joint_isj': 39911.25387253936, 'ee_path_length': 3.4036164743579613, 'joint_rmse_mean': 0.9200242404952153, 'ee_speed_max': 0.6591863036155701, 'ee_speed_mean': 0.10904170572757721}, events: {'GRIPPER_FULLY_CLOSED': 12, 'TARGET_OBJECT_DROPPED': 15, 'GRIPPER_HIT_TABLE': 3, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1106.556, 'policy_inference_avg_ms': 2459.0, 'env_step_s': 92.804, 'env_step_avg_ms': 206.2, 'video_write_s': 3.171, 'video_write_avg_ms': 7.0, 'wall_total_s': 1202.531, 'it_per_sec': 0.37}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 858c5df00c4043ae85240404d516dff1-1
+[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_note/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': -8.839867690362567, 'joint_sparc_mean': -9.588153292316486, 'ee_isj': 3782.079484270089, 'joint_isj': 87895.50814371124, 'ee_path_length': 4.185894939834193, 'joint_rmse_mean': 1.1590922602759417, 'ee_speed_max': 0.7576369047164917, 'ee_speed_mean': 0.13672782480716705}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_TABLE': 3, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['grey_bin_right']}, instruction_type: default, timing: {'policy_inference_s': 1610.162, 'policy_inference_avg_ms': 3578.1, 'env_step_s': 91.643, 'env_step_avg_ms': 203.7, 'video_write_s': 3.246, 'video_write_avg_ms': 7.2, 'wall_total_s': 1705.051, 'it_per_sec': 0.26}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 7a12b24bb1df41a7a151fa55ee4e27d8-2
+----------------------------------------------------------------------- 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 (3 tasks)                 6/9      66.7%   [34.8-87.8]    0.667        0.000       18.90   -7.55    2.89       12.3        0.36 16.1       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           26.38   -8.03    3.33       12.0        0.47 14.3       
+MustardInLeftBinTask            0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -9.51    3.92       12.8        0.30 25.3       
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           11.42   -5.11    1.42       12.2        0.33 8.8        
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
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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_note/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa874e796f1e570352046a626fd9b5d02592fedf
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
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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_note/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..41fd7988384a58ede86850e3f4e6dd847b48a8dd
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 42, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 44, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 45, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 45, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 104, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 104, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 106, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 224, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 235, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 300, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 324, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 324, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 325, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 329, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 340, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 413, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_right'", "score": 0.0}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_right' (target objects: ['mustard'])", "score": 0.0}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_right'", "score": 0.0}, {"step": 434, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_right' (target objects: ['mustard'])", "score": 0.0}, {"step": 436, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_right'", "score": 0.0}, {"step": 437, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'grey_bin_right' (target objects: ['mustard'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'grey_bin_right'", "score": 0.0}, {"step": 446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'grey_bin_right' nudged 0.209m", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55f24f0958f9054a3140733c23a1e314ccc7bde
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 70, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 70, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 70, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 83, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 133, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 144, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 181, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 191, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 191, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 225, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 261, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 274, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 296, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 296, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 308, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_left'", "score": 0.0}, {"step": 348, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 349, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 349, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 350, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 352, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 364, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 377, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 379, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 379, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 381, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 442, "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_note/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7279b41e471717567df03778a2e53f73f15c6a14
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 36, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 43, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 43, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 43, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 109, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 119, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 123, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 126, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 216, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 246, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 291, "code": 256, 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{"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 0x7fbed23e14e0>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fbed2dd8fe0>, 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_note/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e78c30ce44e4de64b82b9f0cf691a34b34391e9
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_6/robolab/ReorientRedMugTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_note/gpu_7/client.log b/harness_robolab_exploration/embo_note/gpu_7/client.log
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+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-01T16:39:20Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-01T16:39:20Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-01T16:39:20Z [101ms] [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'
+2026-11-01T16:39:20Z [140ms] [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'
+2026-11-01T16:39:21Z [175ms] [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'
+2026-11-01T16:39:21Z [216ms] [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'
+2026-11-01T16:39:21Z [318ms] [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'
+2026-11-01T16:39:21Z [414ms] [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'
+2026-11-01T16:39:21Z [531ms] [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'
+2026-11-01T16:39:21Z [694ms] [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'
+2026-11-01T16:39:21Z [809ms] [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'
+2026-11-01T16:39:26Z [5,187ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:26Z [5,187ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,284ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,723ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,724ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:29Z [8,735ms] [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: 918390
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,936ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,937ms] [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 
+     0 895.26   1.50   0.62   3.92  11.59  13.93  14.49  14.46 
+     1   2.31 877.32   2.45   2.16   1.58  11.43  11.97  12.84 
+     2   3.78   3.44 840.51   1.78   2.40  11.58  13.21  13.56 
+     3   3.43   3.89   2.37 873.88   2.64  12.05  13.03  13.25 
+     4   4.96   5.05   6.43   8.48 905.78   5.44   6.45   4.76 
+     5   5.15   6.08   6.19   6.12   7.90 882.27   6.86   7.25 
+     6   8.05   5.89   8.82   7.33  14.23   8.21 902.66   8.68 
+     7  12.26   9.32   6.91   7.92   9.57   8.62   8.64 919.12 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  14.00  13.41  13.80  14.07  13.52  13.41  13.80 
+     1  12.37   1.46  13.78  13.21  12.89  13.08  13.33  13.21 
+     2  13.64  12.37   1.42  13.66  14.28  15.00  14.59  11.44 
+     3  15.37  15.39  12.76   1.43  13.86  13.44  13.55  11.62 
+     4  14.50  14.40  13.95  13.71   1.35  13.15  16.51  14.92 
+     5  16.38  15.89  15.50  16.71  16.64   1.42  16.67  15.99 
+     6  17.26  17.13  16.83  16.80  16.19  21.63   1.34  21.75 
+     7  17.67  17.19  16.99  17.15  21.55  16.62  16.51   1.35 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.46   8.79   9.70   9.46   8.25   7.42   7.31   7.65 
+     1   8.83   2.61   9.14   8.91   7.97   7.52   7.34   7.15 
+     2   9.48   9.00   3.09   9.51   9.16   8.36   7.91   7.97 
+     3   9.96   9.11   9.65   2.95   8.58   7.93   7.96   7.81 
+     4   8.38   8.15   8.96   9.99   3.42  10.88  11.30   8.17 
+     5   7.96   7.62   8.53   8.26   7.92   2.49   6.75   6.65 
+     6   7.99   7.51   8.83   8.27   7.27   6.60   2.28   6.63 
+     7   8.29   8.02   8.13   8.14   7.28   7.04   6.75   2.25 
+2026-11-01T16:39:47Z [26,484ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 0.6 GB/s.
+2026-11-01T16:39:47Z [26,484ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 21.7 us.
+2026-11-01T16:39:47Z [26,484ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:51Z [30,194ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,195ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,289ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,302ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,302ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,488ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,489ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,494ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,494ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:51Z [30,499ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:51Z [30,499ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:52Z [31,618ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:55Z [34,833ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,366ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,945ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-01T16:40:22Z [62,157ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-01T16:40:22Z [62,160ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-01T16:40:23Z [62,800ms] [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.
+2026-11-01T16:40:28Z [68,112ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,123ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:29Z [68,278ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,278ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['TakeSpatulaOffShelfTask', 'ClampInRightBinTask', 'FoodPacking1CansTask']
+2026-11-01T16:40:44Z [83,581ms] [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@ <0x5605b1d82d20>)
+
+2026-11-01T16:40:44Z [83,582ms] [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@ <0x5605b1d82d20>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: TakeSpatulaOffShelfTask, ClampInRightBinTask, FoodPacking1CansTask
+  Environments   : TakeSpatulaOffShelfTask, ClampInRightBinTask, FoodPacking1CansTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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
+2026-11-01T16:40:48Z [87,925ms] [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 : 0.602187 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...
+2026-11-01T16:40:54Z [93,978ms] [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.
+2026-11-01T16:40:54Z [93,979ms] [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.
+2026-11-01T16:40:54Z [94,063ms] [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.
+2026-11-01T16:40:54Z [94,063ms] [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.
+2026-11-01T16:40:54Z [94,073ms] [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.
+2026-11-01T16:40:54Z [94,081ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T16:40:55Z [94,290ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:55Z [94,362ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:59Z [98,819ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-01T16:40:59Z [98,819ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-01T16:40:59Z [98,910ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-01T16:40:59Z [98,910ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,278ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,278ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,291ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,308ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,308ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,308ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,311ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,311ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,788ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,789ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,789ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,807ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,807ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,517ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:05Z [104,926ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,927ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,928ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,930ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,930ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,930ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,931ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,931ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,932ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,932ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,932ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,937ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,937ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,938ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((236))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,938ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,939ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,939ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.517556 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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: 141, duration: 9.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.3283755107715445, 'joint_sparc_mean': -6.766478483022252, 'ee_isj': 1238.0179196355637, 'joint_isj': 69849.40943628721, 'ee_path_length': 1.3951364906408328, 'joint_rmse_mean': 0.8999591647121453, 'ee_speed_max': 0.31339117884635925, 'ee_speed_mean': 0.146591454744339}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 415.081, 'policy_inference_avg_ms': 2943.8, 'env_step_s': 44.64, 'env_step_avg_ms': 316.6, 'video_write_s': 1.34, 'video_write_avg_ms': 9.5, 'wall_total_s': 461.061, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 4202918ac2e4438483d5ef65f5fb7aed-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_note/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: 180, duration: 12.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.2491356233936095, 'joint_sparc_mean': -7.44220492752647, 'ee_isj': 1566.8923285238534, 'joint_isj': 54343.97534513574, 'ee_path_length': 2.1011989239102045, 'joint_rmse_mean': 0.9382173282797476, 'ee_speed_max': 0.45599353313446045, 'ee_speed_mean': 0.16453593969345093}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 538.44, 'policy_inference_avg_ms': 2991.3, 'env_step_s': 54.404, 'env_step_avg_ms': 302.2, 'video_write_s': 1.568, 'video_write_avg_ms': 8.7, 'wall_total_s': 594.412, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 0dc6d0989ed649c3b188318c2c11e40c-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_note/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: 429, duration: 28.599999999999998, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.563200175219192, 'joint_sparc_mean': -10.748589297914553, 'ee_isj': 3907.0316945339337, 'joint_isj': 391868.9367734218, 'ee_path_length': 4.8561974410813935, 'joint_rmse_mean': 0.9575619430064704, 'ee_speed_max': 0.7616691589355469, 'ee_speed_mean': 0.15898677706718445}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 9}, instruction_type: default, timing: {'policy_inference_s': 1041.728, 'policy_inference_avg_ms': 2428.3, 'env_step_s': 130.459, 'env_step_avg_ms': 304.1, 'video_write_s': 2.862, 'video_write_avg_ms': 6.7, 'wall_total_s': 1175.049, 'it_per_sec': 0.37}, score: 0.0, reason: success: object_grabbed(object=spatula_01). advanced 1 step(s) to step 1 for spatula_01., harness_episode_id: 669a0acf7b2f49409f42989d005f4792-2
+[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
+2026-11-01T17:19:34Z [2,413,430ms] [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 : 0.216577 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...
+2026-11-01T17:19:36Z [2,415,765ms] [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.
+2026-11-01T17:19:36Z [2,415,765ms] [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.
+2026-11-01T17:19:36Z [2,415,775ms] [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.
+2026-11-01T17:19:36Z [2,415,775ms] [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.
+2026-11-01T17:19:36Z [2,415,783ms] [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.
+2026-11-01T17:19:36Z [2,415,791ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T17:19:36Z [2,415,810ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T17:19:36Z [2,416,129ms] [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((340))' not available in the MDL representation.
+2026-11-01T17:19:36Z [2,416,129ms] [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((340))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,169ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,169ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,183ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,184ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,192ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,192ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,336ms] [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.
+2026-11-01T17:19:37Z [2,416,336ms] [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.
+2026-11-01T17:19:37Z [2,416,346ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,386ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,386ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,484ms] [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((488))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,484ms] [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((488))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,500ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((491))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,416,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((491))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,061ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,061ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,062ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,063ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((359))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,064ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,064ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,068ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,069ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,071ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,072ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((442))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,075ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((491))' not available in the MDL representation.
+2026-11-01T17:19:37Z [2,417,075ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((491))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.529792 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_note/gpu_7/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': -14.593851955782874, 'joint_sparc_mean': -26.063672089473304, 'ee_isj': 9346.099182993183, 'joint_isj': 1044614.6155556657, 'ee_path_length': 6.905116256068678, 'joint_rmse_mean': 1.2061016983073434, 'ee_speed_max': 1.4295858144760132, 'ee_speed_mean': 0.11094696819782257}, events: {'GRIPPER_HIT_TABLE': 6, 'TARGET_OBJECT_DROPPED': 22, 'GRIPPER_FULLY_CLOSED': 18, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 3}, instruction_type: default, timing: {'policy_inference_s': 3306.403, 'policy_inference_avg_ms': 3673.8, 'env_step_s': 235.102, 'env_step_avg_ms': 261.2, 'video_write_s': 7.2, 'video_write_avg_ms': 8.0, 'wall_total_s': 3548.705, 'it_per_sec': 0.25}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: b69872a3834e428897c6c621e3b06a4f-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_note/gpu_7/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: 609, duration: 40.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.286531544128055, 'joint_sparc_mean': -13.315357869923048, 'ee_isj': 2095.9916635625777, 'joint_isj': 44786.093906202004, 'ee_path_length': 4.09487814963678, 'joint_rmse_mean': 1.2008093815734833, 'ee_speed_max': 0.36070871353149414, 'ee_speed_mean': 0.09706339985132217}, events: {'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 16, 'GRIPPER_FULLY_CLOSED': 8, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['cordless_drill']}, instruction_type: default, timing: {'policy_inference_s': 1683.196, 'policy_inference_avg_ms': 2763.9, 'env_step_s': 162.129, 'env_step_avg_ms': 266.2, 'video_write_s': 4.492, 'video_write_avg_ms': 7.4, 'wall_total_s': 1849.817, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: bf09562351a54310af4a0ebb687b9ec1-1
+[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_note/gpu_7/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: 217, duration: 14.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.985363194597868, 'joint_sparc_mean': -7.592545977273746, 'ee_isj': 1368.695300484726, 'joint_isj': 32487.30179595942, 'ee_path_length': 2.1320725450130937, 'joint_rmse_mean': 1.133134609948608, 'ee_speed_max': 0.5350648760795593, 'ee_speed_mean': 0.13997530937194824}, events: {'GRIPPER_HIT_TABLE': 3, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 3}, instruction_type: default, timing: {'policy_inference_s': 683.91, 'policy_inference_avg_ms': 3151.7, 'env_step_s': 58.213, 'env_step_avg_ms': 268.3, 'video_write_s': 2.054, 'video_write_avg_ms': 9.5, 'wall_total_s': 744.178, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 96b147e7294c4469b86673e2c9d8f0ad-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
+2026-11-01T19:03:37Z [8,656,353ms] [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 : 0.190563 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...
+2026-11-01T19:03:41Z [8,660,204ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T19:03:41Z [8,660,314ms] [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.
+2026-11-01T19:03:41Z [8,660,314ms] [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.
+2026-11-01T19:03:41Z [8,660,324ms] [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.
+2026-11-01T19:03:41Z [8,660,324ms] [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.
+2026-11-01T19:03:41Z [8,660,333ms] [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.
+2026-11-01T19:03:41Z [8,660,341ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T19:03:41Z [8,660,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((615))' not available in the MDL representation.
+2026-11-01T19:03:41Z [8,660,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((615))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,418ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,418ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,422ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,423ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,435ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-01T19:03:42Z [8,661,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,760ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((615))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((615))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,764ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,765ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((670))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,765ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,765ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((672))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,766ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-11-01T19:03:43Z [8,662,766ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.330335 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 : 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_note/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: True, episode_step: 80, duration: 5.333333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.91777646847255, 'joint_sparc_mean': -4.651620109293068, 'ee_isj': 512.638935737188, 'joint_isj': 8317.55723607368, 'ee_path_length': 0.9646837614660503, 'joint_rmse_mean': 0.8661269426123113, 'ee_speed_max': 0.4664849638938904, 'ee_speed_mean': 0.17507202923297882}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 150.608, 'policy_inference_avg_ms': 1882.6, 'env_step_s': 18.5, 'env_step_avg_ms': 231.3, 'video_write_s': 1.174, 'video_write_avg_ms': 14.7, 'wall_total_s': 170.282, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6f453aa40d1e41d5b9669ff15a6073f8-0
+[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_note/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: 120, duration: 8.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.495699753010087, 'joint_sparc_mean': -7.385415068304086, 'ee_isj': 508.03647549536134, 'joint_isj': 87324.85232074019, 'ee_path_length': 1.039361009932078, 'joint_rmse_mean': 0.9835778732243828, 'ee_speed_max': 0.48214784264564514, 'ee_speed_mean': 0.11854696273803711}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 210.286, 'policy_inference_avg_ms': 1752.4, 'env_step_s': 27.323, 'env_step_avg_ms': 227.7, 'video_write_s': 1.39, 'video_write_avg_ms': 11.6, 'wall_total_s': 239.0, 'it_per_sec': 0.5}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d951685b34df4a0597fe310f6da6ee6e-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_note/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: True, episode_step: 101, duration: 6.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.307547209017452, 'joint_sparc_mean': -4.118766253304673, 'ee_isj': 921.7421729766988, 'joint_isj': 18838.55333221252, 'ee_path_length': 1.2097998246721486, 'joint_rmse_mean': 0.8921369128850022, 'ee_speed_max': 0.5474068522453308, 'ee_speed_mean': 0.16884958744049072}, events: {'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 259.351, 'policy_inference_avg_ms': 2567.8, 'env_step_s': 22.884, 'env_step_avg_ms': 226.6, 'video_write_s': 1.338, 'video_write_avg_ms': 13.2, 'wall_total_s': 283.573, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8b3472d4a0f542f38dbfd2922e17382e-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 (3 tasks)         8/9      88.9%   [55.5-97.5]    0.889        0.000       15.64   -7.08    2.74       14.2        0.35 16.8       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+ClampInRightBinTask     2/3      66.7%   [19.4-93.2]    0.667        0.000       27.53   -10.29   4.38       11.6        0.29 34.1       
+FoodPacking1CansTask    3/3      100.0%  [39.8-99.4]    1.000        -           6.69    -4.57    1.07       15.4        0.44 3.8        
+TakeSpatulaOffShelfTask 3/3      100.0%  [39.8-99.4]    1.000        -           16.67   -6.38    2.78       15.7        0.33 12.4       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..451540d710a766a344599011a8dda6341c38e622
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_0_env0.json
@@ -0,0 +1 @@
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object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 499, "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": 505, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 505, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 506, "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": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 537, "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": 551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 567, "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": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 644, "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": 649, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 649, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 649, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 703, "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": 714, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 714, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 726, "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": 738, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 738, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 739, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 739, "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": 740, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 740, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 770, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 775, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 801, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 804, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 807, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 810, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "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": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 838, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'husky_hammer'", "score": 0.0}, {"step": 853, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 866, "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": 871, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.069m", "score": 0.0}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 887, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_hammer' nudged 0.075m", "score": 0.0}, {"step": 890, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'husky_hammer' nudged 0.213m", "score": 0.0}, {"step": 894, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 899, "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_note/gpu_7/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a998b6d8c2d8e285c73683a22909dffbbcb5f645
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_7/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": 609, "events": [{"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 66, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 82, "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": 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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 95, "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": 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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 112, "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": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 177, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['spring_clamp'])", "score": 0.0}, {"step": 188, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 188, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 188, "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": 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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 229, "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": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 299, "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": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 312, "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": 314, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 320, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 320, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 398, "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": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 401, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 403, "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": 404, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 404, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 405, "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": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 411, "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": 417, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 417, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 431, "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": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 443, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 481, "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": 493, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 493, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 547, "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": 548, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 548, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 549, "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": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 578, "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": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 609, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 609, "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_note/gpu_7/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42048c3e04d9f6b6a90c534d9931040c418b3958
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 2, "success": true, "final_step": 217, "events": [{"step": 54, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 61, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "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": 86, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 86, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 87, "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": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "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": 95, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 112, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 186, "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": 189, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 189, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 190, "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": 205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 215, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 217, "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_note/gpu_7/robolab/ClampInRightBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_note/gpu_7/robolab/ClampInRightBinTask/run_0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7fa21519fd77b73d22d6693f984ffaced208fa36
--- /dev/null
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4224a87f1e67868518b209dff87cdd85429dd32e
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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": true, "final_step": 80, "events": [{"step": 51, "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": 74, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 74, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 74, "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": 75, "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": 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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 78, "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": 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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 80, "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_note/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..94cc62308b2ca26ad59ab77523cd81a7ff734606
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json
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"robolab.core.task.conditionals:object_outside_of_and_on_surface", "params": {"object": ["spatula_01"], "container": "wireshelving_a01", "surface": "table", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spatula_01": [["functools.partial(<function object_grabbed at 0x7fa0370fd940>, object='spatula_01')", 0.0], ["functools.partial(<function object_on_top at 0x7fa0370fd6c0>, object='spatula_01', reference_object='table', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": 2, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["affordance", "spatial", "moderate"], "_task_attributes": ["affordance", "spatial", "moderate"], "_task_name": "TakeSpatulaOffShelfTask", "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": "Take the spatula off the shelf and put it on the table", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Take the spatula off the shelf and put it on the table", "vague": "Take the spatula off the shelf", "specific": "Reach up and remove the spatula from the shelf, then place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4e3d044b6fcde8c4689d88d81e02c4f677a7533
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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": 141, "events": [{"step": 13, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 34, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 116, "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": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 139, "name": "OBJECT_GRABBED_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_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d98acd69c1fbb7867860e52cdda5fc96b417224
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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": 180, "events": [{"step": 28, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 106, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 144, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'fork_small'", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "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": 176, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 176, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 176, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}, {"step": 180, "code": 139, "name": "OBJECT_GRABBED_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_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_note/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d77441a0e3ebfd8722225c6f49fb087edc6c09
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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": true, "final_step": 429, "events": [{"step": 24, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wireshelving_a01'", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spatula_01). advanced 1 step(s) to step 1 for spatula_01.", "score": 0.0}, {"step": 285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: 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object_grabbed(object=spatula_01). regressing to step 0 for spatula_01.", "score": 0.0}]}
\ No newline at end of file
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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: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://127.0.0.1:8007
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diff --git a/harness_robolab_exploration/embo_note/progress.log b/harness_robolab_exploration/embo_note/progress.log
new file mode 100644
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+[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 TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 352.633s | Mean Wall 400.252s | Mean Tokens 1,726,768.0 | Mean Raw Harness 413.527s | Mean Raw Wall 461.146s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 473.161s | Mean Wall 535.863s | Mean Tokens 1,726,768.0 (1/2 complete) | Mean Raw Harness 507.098s | Mean Raw Wall 569.800s
+[Batch] GPU 2 finished MarkerInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 595.010s | Mean Wall 691.612s | Mean Tokens 1,726,768.0 (1/3 complete) | Mean Raw Harness 617.635s | Mean Raw Wall 714.236s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: SUCCESS | Tasks 0/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 580.368s | Mean Wall 667.337s | Mean Tokens 1,984,753.0 (2/4 complete) | Mean Raw Harness 597.337s | Mean Raw Wall 684.305s
+[Batch] GPU 5 finished SpoonInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 675.221s | Mean Wall 777.266s | Mean Tokens 2,546,376.0 (3/5 complete) | Mean Raw Harness 697.062s | Mean Raw Wall 799.106s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 0/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 716.682s | Mean Wall 820.590s | Mean Tokens 2,546,376.0 (3/6 complete) | Mean Raw Harness 744.583s | Mean Raw Wall 848.492s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 1/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 758.154s | Mean Wall 866.990s | Mean Tokens 3,093,338.0 (4/7 complete) | Mean Raw Harness 786.348s | Mean Raw Wall 895.183s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 2/20 | Episodes 8/60 | Success 100.00% (8/8) | Mean Harness 747.593s | Mean Wall 855.722s | Mean Tokens 3,275,518.0 (5/8 complete) | Mean Raw Harness 775.699s | Mean Raw Wall 883.827s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/0: FAILURE | Tasks 2/20 | Episodes 9/60 | Success 88.89% (8/9) | Mean Harness 936.716s | Mean Wall 1064.252s | Mean Tokens 3,275,518.0 (5/9 complete) | Mean Raw Harness 983.548s | Mean Raw Wall 1111.084s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 2/20 | Episodes 10/60 | Success 90.00% (9/10) | Mean Harness 1077.002s | Mean Wall 1253.307s | Mean Tokens 3,275,518.0 (5/10 complete) | Mean Raw Harness 1120.355s | Mean Raw Wall 1296.660s
+[Batch] GPU 2 finished MarkerInMugTask/1: FAILURE | Tasks 2/20 | Episodes 11/60 | Success 81.82% (9/11) | Mean Harness 1117.328s | Mean Wall 1308.922s | Mean Tokens 3,275,518.0 (5/11 complete) | Mean Raw Harness 1164.250s | Mean Raw Wall 1355.844s
+[Batch] GPU 5 finished SpoonInMugTask/1: FAILURE | Tasks 2/20 | Episodes 12/60 | Success 75.00% (9/12) | Mean Harness 1141.270s | Mean Wall 1355.507s | Mean Tokens 3,275,518.0 (5/12 complete) | Mean Raw Harness 1185.159s | Mean Raw Wall 1399.396s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 2/20 | Episodes 13/60 | Success 69.23% (9/13) | Mean Harness 1262.714s | Mean Wall 1506.302s | Mean Tokens 3,275,518.0 (5/13 complete) | Mean Raw Harness 1328.034s | Mean Raw Wall 1571.621s
+[Batch] GPU 6 finished ReorientRedMugTask/0: SUCCESS | Tasks 2/20 | Episodes 14/60 | Success 71.43% (10/14) | Mean Harness 1234.096s | Mean Wall 1466.912s | Mean Tokens 3,275,518.0 (5/14 complete) | Mean Raw Harness 1296.284s | Mean Raw Wall 1529.100s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/1: SUCCESS | Tasks 2/20 | Episodes 15/60 | Success 73.33% (11/15) | Mean Harness 1195.922s | Mean Wall 1417.771s | Mean Tokens 3,141,837.5 (6/15 complete) | Mean Raw Harness 1261.659s | Mean Raw Wall 1483.508s
+[Batch] GPU 6 finished ReorientRedMugTask/1: SUCCESS | Tasks 2/20 | Episodes 16/60 | Success 75.00% (12/16) | Mean Harness 1134.337s | Mean Wall 1343.625s | Mean Tokens 2,839,761.1 (7/16 complete) | Mean Raw Harness 1195.965s | Mean Raw Wall 1405.253s
+[Batch] GPU 6 finished ReorientRedMugTask/2: SUCCESS | Tasks 3/20 | Episodes 17/60 | Success 76.47% (13/17) | Mean Harness 1086.700s | Mean Wall 1286.324s | Mean Tokens 2,839,761.1 (7/17 complete) | Mean Raw Harness 1144.703s | Mean Raw Wall 1344.327s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/0: FAILURE | Tasks 3/20 | Episodes 18/60 | Success 72.22% (13/18) | Mean Harness 1252.309s | Mean Wall 1490.652s | Mean Tokens 2,839,761.1 (7/18 complete) | Mean Raw Harness 1321.384s | Mean Raw Wall 1559.727s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 3/20 | Episodes 19/60 | Success 68.42% (13/19) | Mean Harness 1237.971s | Mean Wall 1495.036s | Mean Tokens 3,072,130.1 (8/19 complete) | Mean Raw Harness 1304.008s | Mean Raw Wall 1561.073s
+[Batch] GPU 2 finished MarkerInMugTask/2: FAILURE | Tasks 4/20 | Episodes 20/60 | Success 65.00% (13/20) | Mean Harness 1266.712s | Mean Wall 1527.883s | Mean Tokens 3,072,130.1 (8/20 complete) | Mean Raw Harness 1338.319s | Mean Raw Wall 1599.491s
+[Batch] GPU 7 finished ClampInRightBinTask/0: FAILURE | Tasks 4/20 | Episodes 21/60 | Success 61.90% (13/21) | Mean Harness 1337.558s | Mean Wall 1598.399s | Mean Tokens 3,072,130.1 (8/21 complete) | Mean Raw Harness 1431.496s | Mean Raw Wall 1692.338s
+[Batch] GPU 6 finished MustardInLeftBinTask/0: FAILURE | Tasks 4/20 | Episodes 22/60 | Success 59.09% (13/22) | Mean Harness 1341.998s | Mean Wall 1595.559s | Mean Tokens 3,072,130.1 (8/22 complete) | Mean Raw Harness 1436.475s | Mean Raw Wall 1690.035s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 5/20 | Episodes 23/60 | Success 56.52% (13/23) | Mean Harness 1303.666s | Mean Wall 1571.624s | Mean Tokens 3,072,130.1 (8/23 complete) | Mean Raw Harness 1394.475s | Mean Raw Wall 1662.433s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 5/20 | Episodes 24/60 | Success 58.33% (14/24) | Mean Harness 1291.460s | Mean Wall 1553.940s | Mean Tokens 3,072,130.1 (8/24 complete) | Mean Raw Harness 1382.537s | Mean Raw Wall 1645.017s
+[Batch] GPU 5 finished SpoonInMugTask/2: FAILURE | Tasks 6/20 | Episodes 25/60 | Success 56.00% (14/25) | Mean Harness 1342.750s | Mean Wall 1613.287s | Mean Tokens 3,072,130.1 (8/25 complete) | Mean Raw Harness 1449.374s | Mean Raw Wall 1719.910s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 7/20 | Episodes 26/60 | Success 53.85% (14/26) | Mean Harness 1391.024s | Mean Wall 1661.880s | Mean Tokens 3,072,130.1 (8/26 complete) | Mean Raw Harness 1505.236s | Mean Raw Wall 1776.093s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 7/20 | Episodes 27/60 | Success 55.56% (15/27) | Mean Harness 1349.863s | Mean Wall 1611.984s | Mean Tokens 2,867,890.1 (9/27 complete) | Mean Raw Harness 1459.845s | Mean Raw Wall 1721.967s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 7/20 | Episodes 28/60 | Success 57.14% (16/28) | Mean Harness 1416.408s | Mean Wall 1691.154s | Mean Tokens 2,867,890.1 (9/28 complete) | Mean Raw Harness 1530.943s | Mean Raw Wall 1805.689s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 7/20 | Episodes 29/60 | Success 58.62% (17/29) | Mean Harness 1389.361s | Mean Wall 1657.578s | Mean Tokens 2,862,348.2 (10/29 complete) | Mean Raw Harness 1502.041s | Mean Raw Wall 1770.258s
+[Batch] GPU 6 finished MustardInLeftBinTask/1: FAILURE | Tasks 7/20 | Episodes 30/60 | Success 56.67% (17/30) | Mean Harness 1379.766s | Mean Wall 1642.419s | Mean Tokens 3,029,960.3 (11/30 complete) | Mean Raw Harness 1488.690s | Mean Raw Wall 1751.343s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 7/20 | Episodes 31/60 | Success 58.06% (18/31) | Mean Harness 1350.584s | Mean Wall 1606.977s | Mean Tokens 2,963,094.8 (12/31 complete) | Mean Raw Harness 1455.994s | Mean Raw Wall 1712.387s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 7/20 | Episodes 32/60 | Success 59.38% (19/32) | Mean Harness 1320.861s | Mean Wall 1571.060s | Mean Tokens 2,898,468.2 (13/32 complete) | Mean Raw Harness 1422.978s | Mean Raw Wall 1673.176s
+[Batch] GPU 7 finished ClampInRightBinTask/1: SUCCESS | Tasks 7/20 | Episodes 33/60 | Success 60.61% (20/33) | Mean Harness 1326.328s | Mean Wall 1574.234s | Mean Tokens 2,898,468.2 (13/33 complete) | Mean Raw Harness 1430.634s | Mean Raw Wall 1678.540s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 8/20 | Episodes 34/60 | Success 61.76% (21/34) | Mean Harness 1292.988s | Mean Wall 1534.680s | Mean Tokens 2,744,640.1 (14/34 complete) | Mean Raw Harness 1394.325s | Mean Raw Wall 1636.017s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 8/20 | Episodes 35/60 | Success 62.86% (22/35) | Mean Harness 1320.743s | Mean Wall 1560.629s | Mean Tokens 2,744,640.1 (14/35 complete) | Mean Raw Harness 1423.371s | Mean Raw Wall 1663.257s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 9/20 | Episodes 36/60 | Success 63.89% (23/36) | Mean Harness 1293.205s | Mean Wall 1527.408s | Mean Tokens 2,647,058.5 (15/36 complete) | Mean Raw Harness 1392.983s | Mean Raw Wall 1627.186s
+[Batch] GPU 7 finished ClampInRightBinTask/2: SUCCESS | Tasks 10/20 | Episodes 37/60 | Success 64.86% (24/37) | Mean Harness 1273.831s | Mean Wall 1503.411s | Mean Tokens 2,647,058.5 (15/37 complete) | Mean Raw Harness 1373.745s | Mean Raw Wall 1603.325s
+[Batch] GPU 7 finished FoodPacking1CansTask/0: SUCCESS | Tasks 10/20 | Episodes 38/60 | Success 65.79% (25/38) | Mean Harness 1244.247s | Mean Wall 1468.330s | Mean Tokens 2,535,845.5 (16/38 complete) | Mean Raw Harness 1341.531s | Mean Raw Wall 1565.615s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 10/20 | Episodes 39/60 | Success 66.67% (26/39) | Mean Harness 1227.059s | Mean Wall 1446.879s | Mean Tokens 2,535,845.5 (16/39 complete) | Mean Raw Harness 1326.232s | Mean Raw Wall 1546.052s
+[Batch] GPU 6 finished MustardInLeftBinTask/2: FAILURE | Tasks 11/20 | Episodes 40/60 | Success 65.00% (26/40) | Mean Harness 1232.348s | Mean Wall 1449.183s | Mean Tokens 2,535,845.5 (16/40 complete) | Mean Raw Harness 1333.200s | Mean Raw Wall 1550.035s
+[Batch] GPU 7 finished FoodPacking1CansTask/1: SUCCESS | Tasks 11/20 | Episodes 41/60 | Success 65.85% (27/41) | Mean Harness 1207.386s | Mean Wall 1419.669s | Mean Tokens 2,455,822.1 (17/41 complete) | Mean Raw Harness 1305.777s | Mean Raw Wall 1518.060s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 12/20 | Episodes 42/60 | Success 66.67% (28/42) | Mean Harness 1226.910s | Mean Wall 1440.412s | Mean Tokens 2,455,822.1 (17/42 complete) | Mean Raw Harness 1331.334s | Mean Raw Wall 1544.836s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 12/20 | Episodes 43/60 | Success 67.44% (29/43) | Mean Harness 1219.143s | Mean Wall 1429.882s | Mean Tokens 2,455,822.1 (17/43 complete) | Mean Raw Harness 1326.092s | Mean Raw Wall 1536.831s
+[Batch] GPU 7 finished FoodPacking1CansTask/2: SUCCESS | Tasks 13/20 | Episodes 44/60 | Success 68.18% (30/44) | Mean Harness 1197.301s | Mean Wall 1403.831s | Mean Tokens 2,392,943.6 (18/44 complete) | Mean Raw Harness 1301.819s | Mean Raw Wall 1508.350s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 14/20 | Episodes 45/60 | Success 68.89% (31/45) | Mean Harness 1186.623s | Mean Wall 1390.158s | Mean Tokens 2,378,796.4 (19/45 complete) | Mean Raw Harness 1289.110s | Mean Raw Wall 1492.646s
+[Batch] GPU 4 finished RedItemsInBinTask/0: FAILURE | Tasks 14/20 | Episodes 46/60 | Success 67.39% (31/46) | Mean Harness 1221.752s | Mean Wall 1425.919s | Mean Tokens 2,378,796.4 (19/46 complete) | Mean Raw Harness 1338.131s | Mean Raw Wall 1542.297s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 14/20 | Episodes 47/60 | Success 68.09% (32/47) | Mean Harness 1230.979s | Mean Wall 1433.749s | Mean Tokens 2,378,796.4 (19/47 complete) | Mean Raw Harness 1349.925s | Mean Raw Wall 1552.695s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/2: FAILURE | Tasks 15/20 | Episodes 48/60 | Success 66.67% (32/48) | Mean Harness 1270.278s | Mean Wall 1481.881s | Mean Tokens 2,826,122.8 (20/48 complete) | Mean Raw Harness 1394.239s | Mean Raw Wall 1605.842s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 16/20 | Episodes 49/60 | Success 67.35% (33/49) | Mean Harness 1254.974s | Mean Wall 1463.407s | Mean Tokens 2,797,892.9 (21/49 complete) | Mean Raw Harness 1376.533s | Mean Raw Wall 1584.966s
+[Batch] GPU 4 finished RedItemsInBinTask/1: SUCCESS | Tasks 16/20 | Episodes 50/60 | Success 68.00% (34/50) | Mean Harness 1261.844s | Mean Wall 1469.351s | Mean Tokens 2,797,892.9 (21/50 complete) | Mean Raw Harness 1382.007s | Mean Raw Wall 1589.514s
+[Batch] GPU 4 finished RedItemsInBinTask/2: SUCCESS | Tasks 17/20 | Episodes 51/60 | Success 68.63% (35/51) | Mean Harness 1256.024s | Mean Wall 1461.499s | Mean Tokens 2,797,892.9 (21/51 complete) | Mean Raw Harness 1378.629s | Mean Raw Wall 1584.104s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/0: FAILURE | Tasks 17/20 | Episodes 52/60 | Success 67.31% (35/52) | Mean Harness 1283.222s | Mean Wall 1488.915s | Mean Tokens 2,797,892.9 (21/52 complete) | Mean Raw Harness 1410.099s | Mean Raw Wall 1615.793s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: FAILURE | Tasks 17/20 | Episodes 53/60 | Success 66.04% (35/53) | Mean Harness 1270.213s | Mean Wall 1473.200s | Mean Tokens 2,803,537.2 (22/53 complete) | Mean Raw Harness 1394.696s | Mean Raw Wall 1597.683s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 17/20 | Episodes 54/60 | Success 66.67% (36/54) | Mean Harness 1252.747s | Mean Wall 1452.597s | Mean Tokens 2,750,090.0 (23/54 complete) | Mean Raw Harness 1376.104s | Mean Raw Wall 1575.953s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 67.27% (37/55) | Mean Harness 1236.851s | Mean Wall 1433.738s | Mean Tokens 2,709,500.0 (24/55 complete) | Mean Raw Harness 1358.024s | Mean Raw Wall 1554.910s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/1: FAILURE | Tasks 18/20 | Episodes 56/60 | Success 66.07% (37/56) | Mean Harness 1232.201s | Mean Wall 1429.376s | Mean Tokens 2,709,500.0 (24/56 complete) | Mean Raw Harness 1351.209s | Mean Raw Wall 1548.385s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 66.67% (38/57) | Mean Harness 1217.616s | Mean Wall 1412.201s | Mean Tokens 2,673,106.0 (25/57 complete) | Mean Raw Harness 1335.626s | Mean Raw Wall 1530.211s
+[Batch] GPU 3 finished BananaInBowlTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 67.24% (39/58) | Mean Harness 1203.532s | Mean Wall 1395.516s | Mean Tokens 2,649,976.1 (26/58 complete) | Mean Raw Harness 1319.566s | Mean Raw Wall 1511.550s
+[Batch] GPU 3 finished BananaInBowlTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 67.80% (40/59) | Mean Harness 1187.150s | Mean Wall 1376.423s | Mean Tokens 2,591,524.3 (27/59 complete) | Mean Raw Harness 1301.218s | Mean Raw Wall 1490.491s
+[Batch] GPU 3 finished BananaInBowlTask/2: SUCCESS | Tasks 20/20 | Episodes 60/60 | Success 68.33% (41/60) | Mean Harness 1170.693s | Mean Wall 1357.317s | Mean Tokens 2,552,419.3 (28/60 complete) | Mean Raw Harness 1282.860s | Mean Raw Wall 1469.484s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 68.33% (41/60) | Mean Harness 1170.693s | Mean Wall 1357.317s | Mean Tokens 2,552,419.3 (28/60 complete) | Mean Raw Harness 1282.860s | Mean Raw Wall 1469.484s
diff --git a/harness_robolab_exploration/embo_plan/assignments.tsv b/harness_robolab_exploration/embo_plan/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..6574e0652e83b2363986415a4928fece8698ba42
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/assignments.tsv
@@ -0,0 +1,9 @@
+gpu	port	estimated_seconds	tasks
+0	8000	8922.008	PlasticBottlesInSquarePailTask
+1	8001	6217.078	FruitsOnionToPlateTask BananasInBinThreeTotalTask
+2	8002	6227.570	MarkerInMugTask BananaThenRubiksCubeTask
+3	8003	6963.313	SmallPumpkinInBinTask FoodPacking1BoxesTask BananaInBowlTask
+4	8004	6924.952	ReorientWhiteMugsTask RedItemsInBinTask BowlStackingRightOnLeftTask
+5	8005	6725.107	SpoonInMugTask OneBottleInSquarePailTask RubiksCubeThenBananaTask
+6	8006	6834.342	BlockStackingSpecifiedOrderTask ReorientRedMugTask MustardInLeftBinTask
+7	8007	6737.735	TakeSpatulaOffShelfTask ClampInRightBinTask FoodPacking1CansTask
diff --git a/harness_robolab_exploration/embo_plan/batch_manifest.json b/harness_robolab_exploration/embo_plan/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e93bc55b840b6bacffdbad1a74b7fedab0e99a
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/batch_manifest.json
@@ -0,0 +1,42 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        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_plan/gpu_0/client.log b/harness_robolab_exploration/embo_plan/gpu_0/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..14af140731b36421ff62d7d6561e9cb9386116b4
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_0/client.log
@@ -0,0 +1,354 @@
+[2026-10-31T15:01:53Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:0
+[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_20261031_150158.log
+2026-10-31T15:01:58Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
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+2026-10-31T15:01:58Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-10-31T15:01:58Z [76ms] [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'
+2026-10-31T15:01:59Z [141ms] [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'
+2026-10-31T15:01:59Z [240ms] [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'
+2026-10-31T15:01:59Z [341ms] [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'
+2026-10-31T15:01:59Z [396ms] [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'
+2026-10-31T15:01:59Z [488ms] [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'
+2026-10-31T15:01:59Z [643ms] [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'
+2026-10-31T15:01:59Z [680ms] [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'
+2026-10-31T15:01:59Z [783ms] [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'
+2026-10-31T15:01:59Z [879ms] [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'
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+2026-10-31T15:02:05Z [6,158ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:05Z [6,253ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:08Z [9,167ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:08Z [9,167ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:08Z [9,169ms] [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       |
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+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
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+|---------------------------------------------------------------------------------------------|
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+|---------------------------------------------------------------------------------------------|
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+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24810   MB | 10de      | 0          |
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+|---------------------------------------------------------------------------------------------|
+| 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: 972355
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,380ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,381ms] [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 
+     0 910.80  22.29  22.24  16.19   1.06   1.67   2.21   5.05 
+     1   1.81 902.66   0.96  18.79  16.99  16.11  11.21  14.99 
+     2  19.22  18.88 905.80   1.36   9.25  20.49   9.34   6.97 
+     3  19.32  13.05   9.79 915.45  13.85  17.26  21.29  20.43 
+     4  14.11  13.45  10.56  13.16 896.89  14.16  12.28  11.75 
+     5   8.79  10.58  12.10   6.04  11.95 915.35   7.06   7.43 
+     6   7.73   9.35  10.06  12.29   4.31  14.94 919.12  14.40 
+     7  14.52  14.16   9.05  10.16   2.94   2.25   2.70 941.27 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  16.46  10.69  13.84  26.78 1079.95  23.99  27.16 
+     1  11.22   1.34  12.02  10.73  12.41 119.96  19.61  87.01 
+     2  18.64  12.12   1.33  11.81  14.82  26.72  87.71  82.98 
+     3  18.16  11.40  15.16   1.31  12.69  28.21 277.93  12.10 
+     4 250.81  11.30  11.26  11.58   1.37  17.38  22.83 308.85 
+     5  66.41 258.89  11.43  11.70  11.34   1.38  16.72  20.25 
+     6 424.47 289.44 328.91 295.16 429.80 347.11   1.42 422.99 
+     7  18.83  13.73  23.67  24.34  20.39  41.12 411.50   1.42 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.36   7.14   8.50   7.01   7.83   7.63   7.90   7.63 
+     1   7.09   2.47   7.12   6.95   7.66   7.72   7.65   7.41 
+     2   7.34   6.87   2.46   7.06   7.66   7.68   7.71   7.73 
+     3   7.03   6.75   6.96   2.33   7.65   7.66   7.76   7.50 
+     4   7.47   7.19   7.54   7.37   2.55   8.05   8.27   8.17 
+     5   7.43   7.30   7.37   7.21   7.99   2.56   8.13   7.93 
+     6   7.58   7.37   7.84   7.55   8.30   8.50   2.65   8.30 
+     7   7.48   7.09   7.50   7.28   8.14   7.87   8.20   2.48 
+2026-10-31T15:02:24Z [25,337ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.0 GB/s.
+2026-10-31T15:02:24Z [25,337ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1079.9 us.
+2026-10-31T15:02:24Z [25,337ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:26Z [28,109ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:26Z [28,110ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,246ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,264ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,522ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,522ms] [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)
+2026-10-31T15:02:27Z [28,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,529ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,533ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,533ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,056ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,422ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,932ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,473ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,485ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,051ms] [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.
+2026-10-31T15:03:09Z [70,494ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,495ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,496ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,510ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,528ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,528ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 1 task(s): ['PlasticBottlesInSquarePailTask']
+2026-10-31T15:03:25Z [86,720ms] [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@ <0x56135fe6dce0>)
+
+2026-10-31T15:03:25Z [86,721ms] [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@ <0x56135fe6dce0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask
+  Environments   : PlasticBottlesInSquarePailTask
+  Num Tasks      : 1
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_0/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
+2026-10-31T15:03:29Z [91,075ms] [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:0
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.629920 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...
+2026-10-31T15:03:38Z [99,877ms] [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.
+2026-10-31T15:03:38Z [99,877ms] [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.
+2026-10-31T15:03:38Z [99,956ms] [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.
+2026-10-31T15:03:38Z [99,956ms] [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.
+2026-10-31T15:03:38Z [99,963ms] [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.
+2026-10-31T15:03:38Z [99,970ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:39Z [100,156ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:39Z [100,176ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:41Z [102,968ms] [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((33))' not available in the MDL representation.
+2026-10-31T15:03:41Z [102,968ms] [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((33))' not available in the MDL representation.
+2026-10-31T15:03:43Z [104,449ms] [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((36))' not available in the MDL representation.
+2026-10-31T15:03:43Z [104,450ms] [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((36))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,672ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,713ms] [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((86))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,713ms] [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((86))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,736ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,736ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,752ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,752ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-10-31T15:03:46Z [108,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:46Z [108,099ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:46Z [108,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:03:46Z [108,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,235ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:55Z [117,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-31T15:03:55Z [117,099ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,945ms] [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((163))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,945ms] [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((163))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,949ms] [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((165))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,949ms] [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((165))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,281ms] [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((216))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,281ms] [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((216))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,287ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((219))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,287ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((219))' not available in the MDL representation.
+2026-10-31T15:03:59Z [121,084ms] [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((226))' not available in the MDL representation.
+2026-10-31T15:03:59Z [121,084ms] [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((226))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,626ms] [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((231))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,626ms] [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((231))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,143ms] [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((272))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,144ms] [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((272))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,670ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:04:01Z [123,016ms] [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((36))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,016ms] [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((36))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,024ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,025ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,028ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,028ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((166))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,032ms] [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((231))' not available in the MDL representation.
+2026-10-31T15:04:01Z [123,033ms] [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((231))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 31.421275 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 : 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_plan/gpu_0/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: True, episode_step: 369, duration: 24.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.50240764161005, 'joint_sparc_mean': -7.798702143424932, 'ee_isj': 1858.431853356665, 'joint_isj': 124260.19229062674, 'ee_path_length': 3.5261565531361434, 'joint_rmse_mean': 1.2332918813773772, 'ee_speed_max': 0.43526995182037354, 'ee_speed_mean': 0.13311055302619934}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 1032.559, 'policy_inference_avg_ms': 2798.3, 'env_step_s': 114.505, 'env_step_avg_ms': 310.3, 'video_write_s': 3.227, 'video_write_avg_ms': 8.7, 'wall_total_s': 1150.291, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 509a0f87de0d473a9bf3490f536d46ad-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_plan/gpu_0/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: True, episode_step: 753, duration: 50.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.02059377251448, 'joint_sparc_mean': -14.313627525969334, 'ee_isj': 2489.818508445096, 'joint_isj': 58814.68965208186, 'ee_path_length': 5.480498234602397, 'joint_rmse_mean': 1.1752554208332264, 'ee_speed_max': 0.4366774559020996, 'ee_speed_mean': 0.10164288431406021}, events: {'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 6}, instruction_type: default, timing: {'policy_inference_s': 3948.042, 'policy_inference_avg_ms': 5243.1, 'env_step_s': 243.035, 'env_step_avg_ms': 322.8, 'video_write_s': 5.746, 'video_write_avg_ms': 7.6, 'wall_total_s': 4196.824, 'it_per_sec': 0.18}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6b64976ff8004bca9efc8f65358abe02-1
+[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_plan/gpu_0/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: 1033, duration: 68.86666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.430652946704829, 'joint_sparc_mean': -16.440406084573702, 'ee_isj': 4704.5950200988045, 'joint_isj': 219688.40581049328, 'ee_path_length': 8.131995376055553, 'joint_rmse_mean': 1.1579604668443308, 'ee_speed_max': 0.4865086078643799, 'ee_speed_mean': 0.11036968976259232}, events: {'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_FULLY_CLOSED': 9, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 2, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 6850.666, 'policy_inference_avg_ms': 6631.8, 'env_step_s': 334.641, 'env_step_avg_ms': 324.0, 'video_write_s': 6.855, 'video_write_avg_ms': 6.6, 'wall_total_s': 7192.162, 'it_per_sec': 0.14}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 25908abb19964bf4899eddfa3fdefd1f-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 (1 tasks)                3/3      100.0%  [39.8-99.4]    1.000        -           47.89   -8.98    5.71       11.5        0.21 69.7       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+PlasticBottlesInSquarePailTask 3/3      100.0%  [39.8-99.4]    1.000        -           47.89   -8.98    5.71       11.5        0.21 69.7       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
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+2026-10-31T16:35:08.362864Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/bottle_observation_0.png`: No such file or directory (os error 2)
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+++ b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/env_cfg.json
@@ -0,0 +1 @@
+{"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:0", "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_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
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diff --git a/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
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+++ b/harness_robolab_exploration/embo_plan/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
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diff --git a/harness_robolab_exploration/embo_plan/gpu_0/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_plan/gpu_0/robolab/episode_results.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_0/server.log b/harness_robolab_exploration/embo_plan/gpu_0/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..aec8a484de056f523a76bf46ec0d78d3042c94f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_0/server.log
@@ -0,0 +1,27 @@
+[2026-10-31T15:01:53Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/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_plan/gpu_0/harness/20261031T150155.797313Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_0/harness/20261031T150155.797313Z_eval.episodes.jsonl
+INFO:root:Plan before execution: True
+INFO:root:Multi-action execution: False
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: False; 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://127.0.0.1:8000
+INFO:websockets.server:server listening on 127.0.0.1:8000
+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', 40840) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 509a0f87de0d473a9bf3490f536d46ad-0 (codex/gpt-6-astra) ended: wall=1145.914s harness=1023.407s tokens=4805685 usage_complete=True decisions=47 executed_steps=369 steps_complete=True network_wait=4.623334690928459 rate_limit_wait=0 rate_limit_count=0 excluded=4.623334690928459 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_0/harness/20261031T150155.797313Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6b64976ff8004bca9efc8f65358abe02-1 (codex/gpt-6-astra) ended: wall=3122.344s harness=2862.818s tokens=12065476 usage_complete=False decisions=95 executed_steps=753 steps_complete=True network_wait=1075.027549147606 rate_limit_wait=0 rate_limit_count=0 excluded=1075.027549147606 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_0/harness/20261031T150155.797313Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 25908abb19964bf4899eddfa3fdefd1f-2 (codex/gpt-6-astra) ended: wall=4950.129s harness=4594.139s tokens=16058632 usage_complete=False decisions=130 executed_steps=1033 steps_complete=True network_wait=2242.8821718916297 rate_limit_wait=0 rate_limit_count=0 excluded=2242.8821718916297 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_0/harness/20261031T150155.797313Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 40840) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_plan/gpu_1/client.log b/harness_robolab_exploration/embo_plan/gpu_1/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..a0c9147a0c56b3e40593612bb0f297c308bc1b6c
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_1/client.log
@@ -0,0 +1,490 @@
+[2026-10-31T15:01:53Z] GPU 1: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261031_150158.log
+2026-10-31T15:01:58Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-10-31T15:01:58Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-10-31T15:01:58Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
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+2026-10-31T15:01:58Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-10-31T15:01:58Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-10-31T15:01:58Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
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+2026-10-31T15:01:59Z [179ms] [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'
+2026-10-31T15:01:59Z [274ms] [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'
+2026-10-31T15:01:59Z [382ms] [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'
+2026-10-31T15:01:59Z [461ms] [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'
+2026-10-31T15:01:59Z [566ms] [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'
+2026-10-31T15:01:59Z [665ms] [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'
+2026-10-31T15:01:59Z [766ms] [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'
+2026-10-31T15:01:59Z [868ms] [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'
+2026-10-31T15:02:04Z [5,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,202ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,342ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:07Z [9,115ms] [Error] [carb.glinterop.plugin] GLInteropContext::init: carb::windowing is not available
+
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+| Driver Version: 550.144.03    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
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+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
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+|     |                                  |        |     |            | 2684      | c3b5b1bf.. |
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+|---------------------------------------------------------------------------------------------|
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+|---------------------------------------------------------------------------------------------|
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+|     |                                  |        |     |            | 2684      | 080d1ae6.. |
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+|---------------------------------------------------------------------------------------------|
+| 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.. |
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+|---------------------------------------------------------------------------------------------|
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+| 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: 972059
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,533ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,533ms] [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 
+     0 895.16   4.58   5.05   5.70   3.17   4.64   5.55   4.48 
+     1   7.39 920.17  17.70  13.97  10.30   5.32   3.20   2.96 
+     2  15.36   4.32 883.27   8.04   6.76   6.09   6.08   5.83 
+     3  15.88   7.05   5.59 845.51   7.87   6.74   7.09   8.09 
+     4  18.83  14.99  10.76   7.67 902.66   8.34   8.28   8.18 
+     5  13.55  13.73   7.33   8.02   3.37 910.02  12.27   9.92 
+     6  14.41  17.59  16.93   6.60  22.39   5.10 880.78   7.45 
+     7  18.01  19.04  18.42  13.37  10.62  19.35   9.54 920.74 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.40  18.43  16.37  18.65 172.02  22.53  16.55  22.13 
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+     6 339.81 474.14  59.13 467.55  86.69 291.81   3.80 253.98 
+     7  56.16  47.22  36.58  23.38  11.51 1124.86  26.84   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
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+     6   8.55   8.31   8.38   8.14   9.10   8.77   2.89   8.75 
+     7   8.40   7.97   8.15   7.83   8.80   8.71   8.86   2.78 
+2026-10-31T15:02:23Z [24,468ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.0 GB/s.
+2026-10-31T15:02:23Z [24,469ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1667.6 us.
+2026-10-31T15:02:23Z [24,469ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:26Z [28,108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:26Z [28,109ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,249ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,250ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,267ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,267ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,521ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,527ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,528ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,532ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,055ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,421ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,931ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,471ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,352ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,357ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,057ms] [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.
+2026-10-31T15:03:09Z [70,595ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,595ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,596ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,608ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,749ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,749ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 2 task(s): ['FruitsOnionToPlateTask', 'BananasInBinThreeTotalTask']
+2026-10-31T15:03:25Z [86,714ms] [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@ <0x5594d9789930>)
+
+2026-10-31T15:03:25Z [86,715ms] [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@ <0x5594d9789930>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BananasInBinThreeTotalTask
+  Environments   : FruitsOnionToPlateTask, BananasInBinThreeTotalTask
+  Num Tasks      : 2
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_1/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
+2026-10-31T15:03:32Z [93,621ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.561473 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...
+2026-10-31T15:03:39Z [100,753ms] [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.
+2026-10-31T15:03:39Z [100,754ms] [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.
+2026-10-31T15:03:39Z [100,789ms] [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.
+2026-10-31T15:03:39Z [100,790ms] [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.
+2026-10-31T15:03:39Z [100,799ms] [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.
+2026-10-31T15:03:39Z [100,807ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:39Z [101,104ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:40Z [101,136ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:47Z [108,767ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,768ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,768ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,505ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,505ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,799ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,799ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,799ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,843ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,844ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-10-31T15:03:53Z [115,037ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:53Z [115,037ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,270ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,271ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,288ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,288ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,456ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,456ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,815ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:03:58Z [119,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,225ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((37))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,229ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,233ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,233ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,233ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,234ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,234ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,236ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,237ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,240ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,240ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 23.206065 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 : 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_1/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': -5.160840371595636, 'joint_sparc_mean': -7.4543064576963545, 'ee_isj': 1056.5429597251998, 'joint_isj': 12058.447471733924, 'ee_path_length': 2.2824284354001296, 'joint_rmse_mean': 0.8544895669607999, 'ee_speed_max': 0.6087547540664673, 'ee_speed_mean': 0.036080826073884964}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1894.154, 'policy_inference_avg_ms': 2104.6, 'env_step_s': 558.954, 'env_step_avg_ms': 621.1, 'video_write_s': 6.674, 'video_write_avg_ms': 7.4, 'wall_total_s': 2459.783, 'it_per_sec': 0.37}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 74ef2352739447b18b4bcd559aa48a53-0
+[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_plan/gpu_1/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': -5.4427794159104845, 'joint_sparc_mean': -16.528619292437963, 'ee_isj': 447827.1248582737, 'joint_isj': 4665370.940735637, 'ee_path_length': 15.999693015224857, 'joint_rmse_mean': 1.3679088611917547, 'ee_speed_max': 8.792081832885742, 'ee_speed_mean': 0.2715093791484833}, events: {'OBJECT_OUT_OF_SCENE': 10, 'OBJECT_MOVED': 10, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 11, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['wooden_bowl', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 5526.576, 'policy_inference_avg_ms': 6140.6, 'env_step_s': 572.637, 'env_step_avg_ms': 636.3, 'video_write_s': 7.139, 'video_write_avg_ms': 7.9, 'wall_total_s': 6106.352, 'it_per_sec': 0.15}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 093e89a245b2416ba81f7e19d8b50306-1
+[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_plan/gpu_1/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': -5.950586512307098, 'joint_sparc_mean': -9.193917235967566, 'ee_isj': 1421.8481982468425, 'joint_isj': 90900.79461975221, 'ee_path_length': 3.1922654483848656, 'joint_rmse_mean': 0.9541518723409713, 'ee_speed_max': 0.5096268057823181, 'ee_speed_mean': 0.050589676946401596}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 1989.767, 'policy_inference_avg_ms': 2210.9, 'env_step_s': 561.059, 'env_step_avg_ms': 623.4, 'video_write_s': 6.194, 'video_write_avg_ms': 6.9, 'wall_total_s': 2557.02, 'it_per_sec': 0.35}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 2cca69ffa9934c24b0b75e51c17b161f-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
+2026-10-31T18:10:59Z [11,340,934ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.207064 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...
+2026-10-31T18:11:03Z [11,344,617ms] [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.
+2026-10-31T18:11:03Z [11,344,618ms] [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.
+2026-10-31T18:11:03Z [11,344,627ms] [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.
+2026-10-31T18:11:03Z [11,344,627ms] [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.
+2026-10-31T18:11:03Z [11,344,635ms] [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.
+2026-10-31T18:11:03Z [11,344,643ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T18:11:03Z [11,344,661ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T18:11:05Z [11,346,764ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((353))' not available in the MDL representation.
+2026-10-31T18:11:05Z [11,346,764ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((353))' not available in the MDL representation.
+2026-10-31T18:11:08Z [11,349,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((353))' not available in the MDL representation.
+2026-10-31T18:11:08Z [11,349,626ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((353))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.593842 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 : 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_plan/gpu_1/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: 193, duration: 12.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.2029627075005145, 'joint_sparc_mean': -8.320578375484265, 'ee_isj': 379.4188430266402, 'joint_isj': 71888.7295318952, 'ee_path_length': 1.0896324472758818, 'joint_rmse_mean': 1.0543939397582756, 'ee_speed_max': 0.409429132938385, 'ee_speed_mean': 0.08030173182487488}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 592.632, 'policy_inference_avg_ms': 3070.6, 'env_step_s': 51.715, 'env_step_avg_ms': 268.0, 'video_write_s': 2.053, 'video_write_avg_ms': 10.6, 'wall_total_s': 646.4, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3c99035d1b88416ea962d889875c5007-0
+[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_plan/gpu_1/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': -6.31805145749767, 'joint_sparc_mean': -19.639510600238513, 'ee_isj': 288072.3075153359, 'joint_isj': 2636901.301617141, 'ee_path_length': 10.999870543254794, 'joint_rmse_mean': 1.7019708214349356, 'ee_speed_max': 8.488128662109375, 'ee_speed_mean': 0.1881256103515625}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 13, 'GRIPPER_FULLY_CLOSED': 9, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_MOVED': 3, 'wrong_objects_grabbed': ['grey_bin']}, instruction_type: default, timing: {'policy_inference_s': 2689.392, 'policy_inference_avg_ms': 2988.2, 'env_step_s': 233.429, 'env_step_avg_ms': 259.4, 'video_write_s': 7.066, 'video_write_avg_ms': 7.9, 'wall_total_s': 2929.886, 'it_per_sec': 0.31}, score: 0.0, reason: Only 0/1 objects completed. Failed: object_grabbed(object=banana) (step 1/2), harness_episode_id: 5d8e76bec10f4b3593d3d0ffa8b0071a-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_plan/gpu_1/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: 445, duration: 29.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.496179495361625, 'joint_sparc_mean': -12.847506250690133, 'ee_isj': 724.1194001462193, 'joint_isj': 104216.47908671432, 'ee_path_length': 2.2171491442435376, 'joint_rmse_mean': 1.191634049809262, 'ee_speed_max': 0.3584522008895874, 'ee_speed_mean': 0.07089481502771378}, events: {'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 6, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 1259.406, 'policy_inference_avg_ms': 2830.1, 'env_step_s': 116.472, 'env_step_avg_ms': 261.7, 'video_write_s': 3.752, 'video_write_avg_ms': 8.4, 'wall_total_s': 1379.631, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 29279580946f418195e3dc8768c80868-2
+--------------------------------------------------------------------- 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 (2 tasks)            2/6      33.3%   [9.9-71.0]     0.333        0.000       21.27   -6.26    5.96       11.6        0.30 44.7       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananasInBinThreeTotalTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       21.27   -7.01    4.77       11.3        0.31 27.5       
+FruitsOnionToPlateTask     0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -5.52    7.16       11.9        0.29 61.8       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
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+2026-10-31T15:05:05.213476Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
+2026-10-31T15:05:18.913399Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/robot_wrist.png`: No such file or directory (os error 2)
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diff --git a/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/env_cfg.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/env_cfg.json
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+++ b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/env_cfg.json
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"{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_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8a917e283532025b614793e10e2b14342946a6
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 0, "success": true, "final_step": 193, "events": [{"step": 130, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 193, "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_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5488569ade4a81572053a3b49aa9d231dc01adf8
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_1/robolab/BananasInBinThreeTotalTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInBinThreeTotalTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 73, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 73, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 75, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", 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"isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_on_top", "params": {"object": ["redonion"], "reference_object": "clay_plates", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"redonion": [["functools.partial(<function object_grabbed at 0x7f1ee00cd4e0>, object='redonion')", 0.0], ["functools.partial(<function object_on_top at 0x7f1ee00cd260>, object='redonion', reference_object='clay_plates', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "vague", "simple"], "_task_attributes": ["semantics", "vague", "simple"], "_task_name": "FruitsOnionToPlateTask", "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 onion on the plate", "contact_object_list": ["table", "lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "redonion", "serving_bowl", "clay_plates", "wooden_bowl", "wooden_spoons", "spatula", "storage_box"], "_instruction_variants": {"default": "Put the onion on the plate", "vague": "Plate the onion", "specific": "Pick up the round onion and place it on the flat plate"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..697d4d12a84dea3c018455b30ff9da32adc9c8dc
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=redonion). advanced 1 step(s) to step 1 for redonion.", "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=redonion). regressing to step 0 for redonion.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..352d5201fccb33a48ce7e74a69247978e8b49a6c
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FruitsOnionToPlateTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 14, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 23, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.879m", "score": 0.0}, {"step": 150, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['redonion'])", "score": 0.0}, {"step": 150, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 150, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 153, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json
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\ No newline at end of file
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/client.log b/harness_robolab_exploration/embo_plan/gpu_2/client.log
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+2026-10-31T15:01:58Z [71ms] [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'
+2026-10-31T15:01:58Z [100ms] [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'
+2026-10-31T15:01:59Z [182ms] [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'
+2026-10-31T15:01:59Z [278ms] [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'
+2026-10-31T15:01:59Z [383ms] [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'
+2026-10-31T15:01:59Z [477ms] [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'
+2026-10-31T15:01:59Z [651ms] [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'
+2026-10-31T15:01:59Z [739ms] [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'
+2026-10-31T15:01:59Z [839ms] [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'
+2026-10-31T15:01:59Z [886ms] [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'
+2026-10-31T15:02:04Z [5,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,274ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,381ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,043ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,045ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:07Z [9,046ms] [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          | Yes: 0 |     | 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          |        |     | 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: 972376
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,502ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,502ms] [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 
+     0 886.02   4.23   2.84   4.87   2.61   4.42   4.85   6.76 
+     1   5.39 904.75   9.73  13.82   4.97   8.15   4.08   4.93 
+     2  13.60   4.46 889.30   6.72   6.10   6.08   5.82   9.15 
+     3  11.42   5.41   6.82 875.84   7.02   6.32   9.17  13.82 
+     4  10.36  10.69   7.24   9.15 913.18   9.90   9.65  13.37 
+     5  11.97   9.96   7.85   9.41   2.37 899.54   4.10   9.42 
+     6  11.24   6.91   7.58   7.63   4.55   7.10 901.10   9.21 
+     7  19.52  13.47  11.31   4.30   3.40   3.32  17.55 936.19 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  15.94  11.51  19.85  11.70 1181.69  11.51 187.80 
+     1  11.36   1.45  19.66  11.55  48.31  58.68 1609.17  13.12 
+     2  17.77  19.24   1.46  23.91  29.63  25.54 1039.18  21.49 
+     3  18.85  17.62  15.82   1.45  14.48 1144.45  70.82  28.05 
+     4  12.34  12.40  12.59  15.82   1.48 607.01  18.17  57.53 
+     5 148.65 159.42 144.73  77.13  23.00   1.46 208.75 139.84 
+     6 231.39 223.33  87.43  39.66  38.80 170.35   1.36 362.49 
+     7  33.18  29.42 142.13  74.27  68.32  62.54  45.11   1.50 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.60   8.35   8.18   8.09   7.30   7.24   7.34   7.51 
+     1   8.36   2.52   8.02   7.88   7.24   7.16   7.35   7.52 
+     2   8.21   7.94   2.62   7.97   7.36   8.10   7.24   7.14 
+     3   8.10   7.94   7.86   2.57   7.28   7.15   7.39   7.10 
+     4   7.64   7.48   7.44   7.38   2.23   6.71   6.84   6.68 
+     5   7.62   7.39   7.54   7.54   6.61   2.24   6.81   6.49 
+     6   7.82   7.50   7.50   7.41   7.07   6.80   2.36   6.81 
+     7   7.52   7.06   7.44   8.94  11.57   6.70   6.85   2.30 
+2026-10-31T15:02:23Z [24,810ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.4 GB/s.
+2026-10-31T15:02:23Z [24,811ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1609.2 us.
+2026-10-31T15:02:23Z [24,811ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:26Z [28,107ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:26Z [28,108ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,244ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,244ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,258ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,258ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,513ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,514ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,520ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,527ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,054ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,422ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,931ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,497ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,351ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,355ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,058ms] [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.
+2026-10-31T15:03:09Z [70,346ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,347ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,348ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,361ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,378ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,378ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 2 task(s): ['MarkerInMugTask', 'BananaThenRubiksCubeTask']
+2026-10-31T15:03:25Z [86,714ms] [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@ <0x55c41e4620d0>)
+
+2026-10-31T15:03:25Z [86,715ms] [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@ <0x55c41e4620d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, BananaThenRubiksCubeTask
+  Environments   : MarkerInMugTask, BananaThenRubiksCubeTask
+  Num Tasks      : 2
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_2/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
+2026-10-31T15:03:32Z [93,207ms] [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:2
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.928837 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...
+2026-10-31T15:03:39Z [100,717ms] [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.
+2026-10-31T15:03:39Z [100,718ms] [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.
+2026-10-31T15:03:39Z [100,753ms] [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.
+2026-10-31T15:03:39Z [100,754ms] [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.
+2026-10-31T15:03:39Z [100,763ms] [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.
+2026-10-31T15:03:39Z [100,770ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:39Z [101,029ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:39Z [101,050ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:41Z [102,300ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:41Z [102,300ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:41Z [102,300ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:45Z [106,816ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-10-31T15:03:45Z [106,816ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-10-31T15:03:45Z [106,907ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-10-31T15:03:45Z [106,907ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-10-31T15:03:45Z [107,033ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:45Z [107,033ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,181ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,398ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,399ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,504ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,505ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,586ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,586ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,884ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,884ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-10-31T15:03:47Z [109,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((210))' not available in the MDL representation.
+2026-10-31T15:03:47Z [109,094ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((210))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,328ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,328ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,946ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:03:49Z [110,255ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,255ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,256ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,259ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,259ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,260ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,260ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,261ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,261ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((86))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,262ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,262ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((89))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,262ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,262ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,263ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,263ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,264ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,264ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,264ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,265ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,265ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,265ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((115))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((210))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((210))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:03:49Z [110,274ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.265769 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_2/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: 577, duration: 38.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.5930738833069, 'joint_sparc_mean': -10.699563132453239, 'ee_isj': 35851.42122896621, 'joint_isj': 1348537.4042425898, 'ee_path_length': 5.919625491772346, 'joint_rmse_mean': 1.5612517480954613, 'ee_speed_max': 3.39786696434021, 'ee_speed_mean': 0.15187694132328033}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_TABLE': 5}, instruction_type: default, timing: {'policy_inference_s': 3984.708, 'policy_inference_avg_ms': 6905.9, 'env_step_s': 313.885, 'env_step_avg_ms': 544.0, 'video_write_s': 5.273, 'video_write_avg_ms': 9.1, 'wall_total_s': 4303.866, 'it_per_sec': 0.13}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: ee93561f69ac4a3bbba2434229b8862a-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_plan/gpu_2/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: 289, duration: 19.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.567194537848699, 'joint_sparc_mean': -8.737523927709413, 'ee_isj': 1355.6980484130713, 'joint_isj': 104431.20792058448, 'ee_path_length': 2.3906028683999416, 'joint_rmse_mean': 1.3479480677326967, 'ee_speed_max': 0.4908168315887451, 'ee_speed_mean': 0.11389271169900894}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 1777.643, 'policy_inference_avg_ms': 6151.0, 'env_step_s': 157.964, 'env_step_avg_ms': 546.6, 'video_write_s': 2.778, 'video_write_avg_ms': 9.6, 'wall_total_s': 1938.385, 'it_per_sec': 0.15}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 14c520361bfd4c2baf349ea614662bd5-1
+[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_plan/gpu_2/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: 251, duration: 16.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.607659269539911, 'joint_sparc_mean': -7.190598414076037, 'ee_isj': 1262.9724909326005, 'joint_isj': 46171.59081912872, 'ee_path_length': 1.9242201263697334, 'joint_rmse_mean': 1.3848057686191246, 'ee_speed_max': 0.6265844106674194, 'ee_speed_mean': 0.10528769344091415}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 2792.294, 'policy_inference_avg_ms': 11124.7, 'env_step_s': 137.621, 'env_step_avg_ms': 548.3, 'video_write_s': 2.142, 'video_write_avg_ms': 8.5, 'wall_total_s': 2932.057, 'it_per_sec': 0.09}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3ae9be3863904a9ead260d98cf3cac0b-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
+2026-10-31T17:38:20Z [9,382,100ms] [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:2
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.199225 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...
+2026-10-31T17:38:25Z [9,386,413ms] [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.
+2026-10-31T17:38:25Z [9,386,414ms] [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.
+2026-10-31T17:38:25Z [9,386,422ms] [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.
+2026-10-31T17:38:25Z [9,386,422ms] [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.
+2026-10-31T17:38:25Z [9,386,430ms] [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.
+2026-10-31T17:38:25Z [9,386,438ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T17:38:25Z [9,386,457ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T17:38:27Z [9,389,096ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-31T17:38:27Z [9,389,097ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-31T17:38:29Z [9,390,664ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-31T17:38:29Z [9,390,664ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,151ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,152ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,878ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((350))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,881ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,882ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T17:38:30Z [9,391,882ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.691024 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 : 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_plan/gpu_2/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: 518, duration: 34.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.687531708350466, 'joint_sparc_mean': -13.772491506335387, 'ee_isj': 1059.1109169928852, 'joint_isj': 42106.819606971345, 'ee_path_length': 2.7519626411798397, 'joint_rmse_mean': 1.1160121844967712, 'ee_speed_max': 0.40382930636405945, 'ee_speed_mean': 0.07523439824581146}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 5, 'MULTIPLE_OBJECTS_GRABBED': 1, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['bowl', 'rubiks_cube']}, instruction_type: default, timing: {'policy_inference_s': 1861.565, 'policy_inference_avg_ms': 3593.8, 'env_step_s': 108.497, 'env_step_avg_ms': 209.5, 'video_write_s': 4.747, 'video_write_avg_ms': 9.2, 'wall_total_s': 1974.809, 'it_per_sec': 0.26}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'rubiks_cube', harness_episode_id: fae0c1bdc7c644d2bcd3287afe4df545-0
+[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_plan/gpu_2/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: True, episode_step: 333, duration: 22.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.959489389084215, 'joint_sparc_mean': -9.790240396876774, 'ee_isj': 796.1637111168047, 'joint_isj': 85554.1380227824, 'ee_path_length': 1.8899280729895733, 'joint_rmse_mean': 1.2120200983444605, 'ee_speed_max': 0.4418148994445801, 'ee_speed_mean': 0.08037496358156204}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 866.723, 'policy_inference_avg_ms': 2602.8, 'env_step_s': 69.05, 'env_step_avg_ms': 207.4, 'video_write_s': 3.429, 'video_write_avg_ms': 10.3, 'wall_total_s': 939.203, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: b3850d9f44604092aa2a92873d94f32a-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_plan/gpu_2/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': -9.16851510110134, 'joint_sparc_mean': -12.767865695087503, 'ee_isj': 71121.95730970263, 'joint_isj': 1631189.0805936372, 'ee_path_length': 12.608526532970497, 'joint_rmse_mean': 1.6026959783529247, 'ee_speed_max': 5.327216148376465, 'ee_speed_mean': 0.20199288427829742}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['bowl', 'bowl']}, instruction_type: default, timing: {'policy_inference_s': 2442.956, 'policy_inference_avg_ms': 2714.4, 'env_step_s': 179.59, 'env_step_avg_ms': 199.5, 'video_write_s': 8.702, 'video_write_avg_ms': 9.7, 'wall_total_s': 2631.247, 'it_per_sec': 0.34}, score: 0.5, reason: Condition not satisfied: object_grabbed(object=rubiks_cube) (step 1/2), harness_episode_id: e7be49fa8bee471283084a228a988a10-2
+-------------------------------------------------------------------- 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 (2 tasks)          5/6      83.3%   [42.1-96.3]    0.917        0.500       26.24   -7.76    4.58       12.1        0.22 40.9       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask 2/3      66.7%   [19.4-93.2]    0.833        0.500       28.37   -8.27    5.75       11.9        0.32 30.8       
+MarkerInMugTask          3/3      100.0%  [39.8-99.4]    1.000        -           24.82   -7.26    3.41       12.4        0.12 51.0       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval.episodes.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval.jsonl b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0001/stderr.log
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@@ -0,0 +1 @@
+2026-10-31T15:15:44.988154Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0002/events.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0002/stderr.log b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0002/stderr.log
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index 0000000000000000000000000000000000000000..1cb8198689bd5e6e00d09b6093181f75813dc9ed
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+2026-10-31T16:19:58.238639Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/robot_wrist.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0003/events.jsonl
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@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_2/harness/20261031T150155.799939Z_eval/episode-0004/events.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_0_env0.json
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+++ b/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4 b/harness_robolab_exploration/embo_plan/gpu_2/robolab/BananaThenRubiksCubeTask/put_the_banana_then_the_cube_in_the_bowl_0.mp4
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{"arm_action": {"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}}}, "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": 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"_task_attributes": ["affordance", "moderate"], "_task_name": "MarkerInMugTask", "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 whiteboard marker in the mug", "contact_object_list": ["ceramic_mug", "glasses", "keyboard", "lizard_figurine", "marker", "remote_control", "rubiks_cube", "smartphone", "wooden_bowl", "spoon_big", "computer_mouse", "yogurt_cup", "oatmeal_raisin_cookies", "granola_bars", "table"], "_instruction_variants": {"default": "Put the whiteboard marker in the mug", "vague": "Put the marker in the mug", "specific": "Pick up the marker and drop it vertically into the mug, make sure the marker stands upright"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1021a7bf93bbafbfa5b499f08eaed4104e9ebb5
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MarkerInMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 577, "events": [{"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "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=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 97, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 110, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 110, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 180, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 186, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 190, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 190, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 321, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=marker). regressing to step 0 for marker.", "score": 0.0}, {"step": 530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=marker). advanced 1 step(s) to step 1 for marker.", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 577, "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_plan/gpu_2/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..322cc5db2bdd48f14094898f3cd48de262888059
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_1_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_2/robolab/MarkerInMugTask/log_2_env0.json
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\ No newline at end of file
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diff --git a/harness_robolab_exploration/embo_plan/gpu_3/client.log b/harness_robolab_exploration/embo_plan/gpu_3/client.log
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+2026-10-31T15:02:15Z [16,553ms] [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 
+     0 891.85   2.33   2.30   5.56   3.09   5.03   6.94   9.96 
+     1   3.63 904.75   9.00  10.96   6.21   3.49   7.73  11.84 
+     2   7.83   4.58 851.50   6.27   6.32   5.89   7.69  14.72 
+     3   7.30   5.00   5.52 887.78   4.28   8.16  12.46  13.57 
+     4   9.67   8.89   7.28   8.95 902.22  13.18  21.71  21.17 
+     5   8.58   8.74  10.15  12.44   2.76 892.86   4.79   8.92 
+     6   8.83   6.79  10.04   5.47   3.58   9.17 905.27  15.57 
+     7  13.20  11.05   3.77   7.87   3.22   2.53   3.75 936.65 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  11.73  50.03  11.49  32.13  17.17 344.05  21.98 
+     1  20.08   1.41  11.67  27.75  11.56 1135.68  44.92  29.29 
+     2  11.43  11.65   1.34  15.02  12.29 593.79  19.80  69.59 
+     3  19.07  11.37  11.61   1.31  11.99  26.28 101.28  77.94 
+     4  18.75  11.79  15.28  13.95   1.37  27.41 134.04  19.59 
+     5  31.43  19.39  18.49  18.76  20.96   1.56  28.72 123.36 
+     6 234.17 232.42  88.13  38.61  38.91 174.85   1.41 376.90 
+     7  16.99  33.13 142.05  75.72  66.92  63.05  44.41   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.61   8.43   8.34  18.96   7.46   8.43   7.40   7.42 
+     1   8.37   2.51   8.01   7.95   7.29   7.11   7.35   7.14 
+     2   8.35   8.19   2.51   7.95   7.33   7.29   7.36   7.18 
+     3   8.19   8.09   8.00   2.51   7.22   7.24   7.28   7.18 
+     4   7.77   7.47   7.58   7.55   2.29   6.78   6.88   6.70 
+     5   7.55   7.40   7.37   7.32   6.72   2.27   6.94   6.69 
+     6   7.69   7.56   7.58   7.58   6.78   6.71   2.33   6.90 
+     7   7.59   7.16   7.44  10.74   9.90   6.68   6.88   2.24 
+2026-10-31T15:02:23Z [24,813ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.3 GB/s.
+2026-10-31T15:02:23Z [24,813ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1135.7 us.
+2026-10-31T15:02:23Z [24,813ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:26Z [28,109ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:26Z [28,110ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,251ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,252ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,269ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,269ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,522ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,523ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:27Z [28,529ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,530ms] [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)
+2026-10-31T15:02:27Z [28,534ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:27Z [28,534ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,057ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,422ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,933ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,504ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,354ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,358ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,057ms] [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.
+2026-10-31T15:03:09Z [70,505ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,506ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,507ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,521ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,709ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,710ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['SmallPumpkinInBinTask', 'FoodPacking1BoxesTask', 'BananaInBowlTask']
+2026-10-31T15:03:25Z [86,715ms] [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@ <0x559a382ea820>)
+
+2026-10-31T15:03:25Z [86,716ms] [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@ <0x559a382ea820>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, FoodPacking1BoxesTask, BananaInBowlTask
+  Environments   : SmallPumpkinInBinTask, FoodPacking1BoxesTask, BananaInBowlTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_3/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
+2026-10-31T15:03:32Z [93,696ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.518007 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...
+2026-10-31T15:03:39Z [100,813ms] [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.
+2026-10-31T15:03:39Z [100,814ms] [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.
+2026-10-31T15:03:39Z [100,854ms] [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.
+2026-10-31T15:03:39Z [100,855ms] [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.
+2026-10-31T15:03:39Z [100,863ms] [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.
+2026-10-31T15:03:39Z [100,870ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:40Z [101,171ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:40Z [101,223ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:47Z [108,437ms] [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((66))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,437ms] [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((66))' not available in the MDL representation.
+2026-10-31T15:03:51Z [112,202ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-31T15:03:51Z [112,202ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-10-31T15:03:52Z [113,403ms] [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.
+2026-10-31T15:03:52Z [113,404ms] [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.
+2026-10-31T15:03:52Z [113,404ms] [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.
+2026-10-31T15:03:53Z [114,888ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,888ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,809ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,809ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,809ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,427ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,427ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,427ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,492ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,492ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,515ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,516ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,847ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,155ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((241))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,155ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((241))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,233ms] [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((272))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,233ms] [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((272))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,836ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:04:01Z [122,222ms] [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.
+2026-10-31T15:04:01Z [122,222ms] [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.
+2026-10-31T15:04:01Z [122,222ms] [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.
+2026-10-31T15:04:01Z [122,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,225ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,226ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,226ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,227ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,227ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,227ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,228ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,228ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,229ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,229ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,234ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((241))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,234ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((241))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 26.180670 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_plan/gpu_3/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: 297, duration: 19.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.291108241076994, 'joint_sparc_mean': -9.38635770034559, 'ee_isj': 1087.8168727198345, 'joint_isj': 84136.11452247569, 'ee_path_length': 2.183266493003481, 'joint_rmse_mean': 0.9479598816317301, 'ee_speed_max': 0.5499945878982544, 'ee_speed_mean': 0.10328371822834015}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 718.535, 'policy_inference_avg_ms': 2419.3, 'env_step_s': 204.843, 'env_step_avg_ms': 689.7, 'video_write_s': 2.95, 'video_write_avg_ms': 9.9, 'wall_total_s': 926.328, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1e97d4fd2a0a4bc3a529f26a20277ed0-0
+[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_plan/gpu_3/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: 849, duration: 56.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.585792767361268, 'joint_sparc_mean': -14.747348746852051, 'ee_isj': 1738.6619763996923, 'joint_isj': 133812.0926593687, 'ee_path_length': 4.410917710042944, 'joint_rmse_mean': 1.0190753573625706, 'ee_speed_max': 0.48582470417022705, 'ee_speed_mean': 0.07493207603693008}, events: {'GRIPPER_FULLY_CLOSED': 16, 'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 12}, instruction_type: default, timing: {'policy_inference_s': 5263.446, 'policy_inference_avg_ms': 6199.6, 'env_step_s': 583.369, 'env_step_avg_ms': 687.1, 'video_write_s': 7.143, 'video_write_avg_ms': 8.4, 'wall_total_s': 5853.958, 'it_per_sec': 0.15}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b118f19a2cf24b1f97a99b6fb36c6e83-1
+[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_plan/gpu_3/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: 176, duration: 11.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.48097921104978, 'joint_sparc_mean': -7.555683912833337, 'ee_isj': 875.216945164153, 'joint_isj': 83171.53363147349, 'ee_path_length': 1.6204177813198426, 'joint_rmse_mean': 0.9293851615039814, 'ee_speed_max': 0.5367291569709778, 'ee_speed_mean': 0.12691527605056763}, events: {'OBJECT_BUMPED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 2, 'wrong_objects_grabbed': ['whitepackerbottle_a01']}, instruction_type: default, timing: {'policy_inference_s': 1625.481, 'policy_inference_avg_ms': 9235.7, 'env_step_s': 121.079, 'env_step_avg_ms': 687.9, 'video_write_s': 2.036, 'video_write_avg_ms': 11.6, 'wall_total_s': 1748.596, 'it_per_sec': 0.1}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d2397b870d7b41a4865d43755ce5c41d-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
+2026-10-31T17:27:45Z [8,746,325ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.200970 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...
+2026-10-31T17:27:49Z [8,750,585ms] [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.
+2026-10-31T17:27:49Z [8,750,585ms] [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.
+2026-10-31T17:27:49Z [8,750,593ms] [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.
+2026-10-31T17:27:49Z [8,750,594ms] [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.
+2026-10-31T17:27:49Z [8,750,601ms] [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.
+2026-10-31T17:27:49Z [8,750,608ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T17:27:49Z [8,750,626ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T17:27:51Z [8,752,774ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-31T17:27:51Z [8,752,774ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-31T17:27:51Z [8,752,939ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-31T17:27:51Z [8,752,939ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-31T17:27:52Z [8,753,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T17:27:52Z [8,753,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T17:27:53Z [8,754,514ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((449))' not available in the MDL representation.
+2026-10-31T17:27:53Z [8,754,514ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((449))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,911ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,911ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,913ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,913ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((415))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,916ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((449))' not available in the MDL representation.
+2026-10-31T17:27:55Z [8,756,916ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((449))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 10.498893 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_3/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: True, episode_step: 380, duration: 25.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.610242443762166, 'joint_sparc_mean': -8.237944967941676, 'ee_isj': 2846.4374030773624, 'joint_isj': 500591.0725856909, 'ee_path_length': 3.888264597638614, 'joint_rmse_mean': 1.0945912632281696, 'ee_speed_max': 0.9318522810935974, 'ee_speed_mean': 0.14261335134506226}, events: {'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 1790.443, 'policy_inference_avg_ms': 4711.7, 'env_step_s': 86.23, 'env_step_avg_ms': 226.9, 'video_write_s': 3.76, 'video_write_avg_ms': 9.9, 'wall_total_s': 1880.433, 'it_per_sec': 0.2}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 73d3ef808f9740528951d97f1c83e252-0
+[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_plan/gpu_3/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.66706456930044, 'joint_sparc_mean': -17.59858882065132, 'ee_isj': 8423.017458876815, 'joint_isj': 936459.7075272128, 'ee_path_length': 8.501093175578244, 'joint_rmse_mean': 1.1375058599820473, 'ee_speed_max': 0.8194568753242493, 'ee_speed_mean': 0.13892482221126556}, events: {'GRIPPER_FULLY_CLOSED': 11, 'TARGET_OBJECT_DROPPED': 6, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 4770.542, 'policy_inference_avg_ms': 5300.6, 'env_step_s': 201.793, 'env_step_avg_ms': 224.2, 'video_write_s': 7.433, 'video_write_avg_ms': 8.3, 'wall_total_s': 4979.768, 'it_per_sec': 0.18}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 9f9c0d4476584150a8ae292fb3bdb12e-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_plan/gpu_3/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: True, episode_step: 267, duration: 17.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.112733698223936, 'joint_sparc_mean': -9.449861223921115, 'ee_isj': 6549.331336642703, 'joint_isj': 762359.033755637, 'ee_path_length': 2.7726738009740073, 'joint_rmse_mean': 1.2929421116590734, 'ee_speed_max': 1.656858205795288, 'ee_speed_mean': 0.1502995491027832}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 4}, instruction_type: default, timing: {'policy_inference_s': 628.118, 'policy_inference_avg_ms': 2352.5, 'env_step_s': 58.783, 'env_step_avg_ms': 220.2, 'video_write_s': 3.402, 'video_write_avg_ms': 12.7, 'wall_total_s': 690.304, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2fe0e75cdd9d4a6c9fdd55be9531b193-2
+[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
+2026-10-31T19:35:17Z [16,398,179ms] [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:3
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.185333 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...
+2026-10-31T19:35:21Z [16,402,611ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T19:35:21Z [16,402,721ms] [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.
+2026-10-31T19:35:21Z [16,402,721ms] [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.
+2026-10-31T19:35:21Z [16,402,730ms] [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.
+2026-10-31T19:35:21Z [16,402,730ms] [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.
+2026-10-31T19:35:21Z [16,402,738ms] [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.
+2026-10-31T19:35:21Z [16,402,746ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T19:35:22Z [16,403,600ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T19:35:22Z [16,403,601ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T19:35:22Z [16,403,608ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-10-31T19:35:22Z [16,403,608ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-10-31T19:35:23Z [16,405,043ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T19:35:23Z [16,405,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T19:35:23Z [16,405,043ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+2026-10-31T19:35:23Z [16,405,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((676))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.782240 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_3/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: 185, duration: 12.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.667514340070193, 'joint_sparc_mean': -6.354394919793754, 'ee_isj': 330.06685010495386, 'joint_isj': 8947.608286768133, 'ee_path_length': 1.1027810964679763, 'joint_rmse_mean': 1.1865710506413454, 'ee_speed_max': 0.41579440236091614, 'ee_speed_mean': 0.08582500368356705}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 737.026, 'policy_inference_avg_ms': 3983.9, 'env_step_s': 36.073, 'env_step_avg_ms': 195.0, 'video_write_s': 2.277, 'video_write_avg_ms': 12.3, 'wall_total_s': 775.377, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3588871fef0e404a934161b93667666e-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_plan/gpu_3/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: 257, duration: 17.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.897260485676819, 'joint_sparc_mean': -7.149618223982524, 'ee_isj': 479.5242553442286, 'joint_isj': 13936.141599493214, 'ee_path_length': 1.8054183795730379, 'joint_rmse_mean': 1.2545408216138765, 'ee_speed_max': 0.5162910223007202, 'ee_speed_mean': 0.10059452801942825}, events: {'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 876.751, 'policy_inference_avg_ms': 3411.5, 'env_step_s': 50.744, 'env_step_avg_ms': 197.4, 'video_write_s': 2.772, 'video_write_avg_ms': 10.8, 'wall_total_s': 930.267, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 597c27836fa04262982eaacbbfb5cd45-1
+[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_plan/gpu_3/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: 273, duration: 18.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.8389257936276335, 'joint_sparc_mean': -9.765470086275888, 'ee_isj': 463.63235971976076, 'joint_isj': 13165.469945746743, 'ee_path_length': 1.5116019714667583, 'joint_rmse_mean': 1.2575232436792925, 'ee_speed_max': 0.3149055540561676, 'ee_speed_mean': 0.07940328866243362}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 761.716, 'policy_inference_avg_ms': 2790.2, 'env_step_s': 53.093, 'env_step_avg_ms': 194.5, 'video_write_s': 2.818, 'video_write_avg_ms': 10.3, 'wall_total_s': 817.627, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a8f76b4ba15e4f9fa86840b5dd0934df-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 (3 tasks)       8/9      88.9%   [55.5-97.5]    0.889        0.000       22.37   -7.35    3.09       11.1        0.24 34.4       
+---------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask      3/3      100.0%  [39.8-99.4]    1.000        -           15.89   -6.13    1.47       8.9         0.28 14.0       
+FoodPacking1BoxesTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       21.57   -8.80    5.05       14.4        0.26 41.9       
+SmallPumpkinInBinTask 3/3      100.0%  [39.8-99.4]    1.000        -           29.38   -7.12    2.74       10.2        0.19 47.4       
+---------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval.episodes.jsonl
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+2026-10-31T15:24:40.554749Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval/episode-0003/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval/episode-0003/events.jsonl
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+2026-10-31T16:59:27.766229Z ERROR codex_core::tools::router: error=unable to locate image at `/tmp/robot_exterior.png`: No such file or directory (os error 2)
diff --git a/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval/episode-0004/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_3/harness/20261031T150155.800105Z_eval/episode-0004/events.jsonl
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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:3", "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_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1daf04288e7b2b2ee706ece1addb248a1a05dc
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 0, "success": true, "final_step": 380, "events": [{"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 86, "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": 100, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 100, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 100, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 170, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 185, "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": 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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 206, "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": 380, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 380, "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_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb290ec1d04bc6f26f87ee849c5d35f522fca003
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1BoxesTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "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": 209, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 209, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 218, "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": 248, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 248, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 248, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 396, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "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": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 512, "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": 736, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.053m", "score": 0.0}, {"step": 750, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 750, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 826, "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=cheez_it). advanced 1 step(s) to step 1 for cheez_it.", "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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 859, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 877, "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": 881, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 881, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9496ad36a86506c2e9fc0c22070c7bbc94df1e
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_3/robolab/FoodPacking1BoxesTask/log_2_env0.json
@@ -0,0 +1 @@
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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_plan/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a3c9706ea94809227c7753f1e79c66e4740d43
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
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+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_plan/gpu_4/client.log b/harness_robolab_exploration/embo_plan/gpu_4/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..90502fff888b8869239fa60c462b3939066caee2
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/client.log
@@ -0,0 +1,633 @@
+[2026-10-31T15:01:53Z] GPU 4: Starting worker at ReorientWhiteMugsTask/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_20261031_150158.log
+2026-10-31T15:01:58Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-10-31T15:01:58Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-10-31T15:01:58Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-10-31T15:01:58Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-10-31T15:01:58Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-10-31T15:01:58Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-10-31T15:01:58Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-10-31T15:01:58Z [69ms] [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'
+2026-10-31T15:01:58Z [97ms] [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'
+2026-10-31T15:01:59Z [176ms] [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'
+2026-10-31T15:01:59Z [274ms] [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'
+2026-10-31T15:01:59Z [372ms] [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'
+2026-10-31T15:01:59Z [460ms] [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'
+2026-10-31T15:01:59Z [573ms] [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'
+2026-10-31T15:01:59Z [672ms] [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'
+2026-10-31T15:01:59Z [779ms] [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'
+2026-10-31T15:01:59Z [878ms] [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'
+2026-10-31T15:02:04Z [5,203ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,330ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,045ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,047ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:07Z [9,048ms] [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: 972356
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,549ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,550ms] [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 
+     0 890.03   2.60   1.22   1.57   4.61   5.67   8.14   9.80 
+     1   2.72 856.16   0.93   1.23  17.77  11.64   8.07   7.35 
+     2  10.28   8.06 891.84   8.91   4.80   4.37   6.21  10.40 
+     3  16.11  15.52   8.23 904.22  10.23   2.60   6.39   6.15 
+     4  12.50   6.35   7.26   6.75 883.03   5.99   4.80   3.64 
+     5  10.77   3.67   8.08   8.44   5.15 900.58   2.13  12.33 
+     6   6.72   9.30   9.83   9.91   9.86  12.86 882.77  11.29 
+     7  21.16  22.15  18.47  17.37  11.56  13.47   6.73 918.58 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.57  29.39  28.28  11.52  11.43  11.45  11.52  16.91 
+     1  20.01   1.57  17.73  35.40  17.13  19.53  15.76  18.87 
+     2  15.37  28.84   1.35  27.40  12.10  14.59  16.85  19.49 
+     3  17.43  16.80  33.56   1.55  17.22  16.45  15.25  20.21 
+     4  11.73  13.80  30.21  17.42   1.46  16.66  18.37  33.18 
+     5  12.94  19.53  20.08  11.43  35.09   1.47  11.45  28.41 
+     6  15.31  11.35  19.09  20.09  37.15  11.34   1.45  26.77 
+     7 349.34 524.76 398.45  31.62  13.81  68.64  18.19   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.30   8.87   8.50   7.64   8.39   8.45   8.19   8.67 
+     1   8.62   2.53   8.45   7.23   8.32   8.27   8.24   8.39 
+     2   8.37   8.39   2.54   7.58   8.21   8.09   7.96   7.98 
+     3   8.01   7.69   8.04   2.63   7.79   7.27   7.83   8.01 
+     4   7.97   7.86   8.23   7.67   2.55   8.26   8.14   8.45 
+     5   8.16   7.76   8.27   7.48   8.25   3.20   8.20   8.36 
+     6   8.16   8.16   8.31   7.12   8.32   8.22   2.50   8.51 
+     7   8.29   8.13   8.18   7.74   8.20   7.70   8.19   2.47 
+2026-10-31T15:02:24Z [25,935ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 0.9 GB/s.
+2026-10-31T15:02:24Z [25,935ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 524.8 us.
+2026-10-31T15:02:24Z [25,935ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:28Z [29,758ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,760ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,873ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,893ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,893ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,091ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,091ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,097ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,097ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,104ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,104ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:30Z [31,404ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,422ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,933ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,473ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,353ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,357ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,054ms] [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.
+2026-10-31T15:03:09Z [70,313ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,314ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,316ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,340ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,353ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,353ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['ReorientWhiteMugsTask', 'RedItemsInBinTask', 'BowlStackingRightOnLeftTask']
+2026-10-31T15:03:25Z [86,716ms] [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@ <0x5631fd128e70>)
+
+2026-10-31T15:03:25Z [86,717ms] [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@ <0x5631fd128e70>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: ReorientWhiteMugsTask, RedItemsInBinTask, BowlStackingRightOnLeftTask
+  Environments   : ReorientWhiteMugsTask, RedItemsInBinTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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
+2026-10-31T15:03:29Z [91,075ms] [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 : 0.596788 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...
+2026-10-31T15:03:38Z [99,877ms] [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.
+2026-10-31T15:03:38Z [99,877ms] [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.
+2026-10-31T15:03:38Z [99,955ms] [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.
+2026-10-31T15:03:38Z [99,955ms] [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.
+2026-10-31T15:03:38Z [99,963ms] [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.
+2026-10-31T15:03:38Z [99,970ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:39Z [100,161ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:39Z [100,180ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:53Z [114,813ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:53Z [114,813ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,181ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,539ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,540ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,580ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,580ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,754ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,754ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,761ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,761ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-10-31T15:03:57Z [119,061ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:03:58Z [119,394ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,394ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,396ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,396ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,397ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,397ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,398ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,398ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,399ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,399ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,400ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+2026-10-31T15:03:58Z [119,400ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((163))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 27.865112 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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: 736, duration: 49.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.35075632034835, 'joint_sparc_mean': -18.945773486187257, 'ee_isj': 3134.3382774835623, 'joint_isj': 248508.6196674648, 'ee_path_length': 5.014179057634232, 'joint_rmse_mean': 1.09307407606121, 'ee_speed_max': 0.44401034712791443, 'ee_speed_mean': 0.09984279423952103}, events: {'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 8, 'wrong_objects_grabbed': ['sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 4622.356, 'policy_inference_avg_ms': 6280.4, 'env_step_s': 231.982, 'env_step_avg_ms': 315.2, 'video_write_s': 6.2, 'video_write_avg_ms': 8.4, 'wall_total_s': 4860.538, 'it_per_sec': 0.15}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: dd4efba5aae846599c955f5c62a9234c-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_plan/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': -11.4952910887709, 'joint_sparc_mean': -19.590571779139342, 'ee_isj': 4768.617055364319, 'joint_isj': 584915.0893235946, 'ee_path_length': 6.205700107202675, 'joint_rmse_mean': 1.356180980836872, 'ee_speed_max': 0.9094489812850952, 'ee_speed_mean': 0.09785793721675873}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 8, 'GRIPPER_FULLY_CLOSED': 10, 'OBJECT_BUMPED': 16, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 6300.209, 'policy_inference_avg_ms': 7000.2, 'env_step_s': 276.178, 'env_step_avg_ms': 306.9, 'video_write_s': 8.072, 'video_write_avg_ms': 9.0, 'wall_total_s': 6584.459, 'it_per_sec': 0.14}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: f9162ac2b068455e849b6476c4ea7ae0-1
+[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_plan/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': -10.150540849144821, 'joint_sparc_mean': -13.27364725496285, 'ee_isj': 10531.485295720426, 'joint_isj': 1114881.8946065218, 'ee_path_length': 8.795846412044975, 'joint_rmse_mean': 1.478024586630344, 'ee_speed_max': 1.4281097650527954, 'ee_speed_mean': 0.1350042074918747}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 8, 'OBJECT_BUMPED': 11, 'WRONG_OBJECT_GRABBED': 9, 'wrong_objects_grabbed': ['upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'upright_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 4062.898, 'policy_inference_avg_ms': 4514.3, 'env_step_s': 271.247, 'env_step_avg_ms': 301.4, 'video_write_s': 7.869, 'video_write_avg_ms': 8.7, 'wall_total_s': 4342.014, 'it_per_sec': 0.21}, score: 0.5, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 665a1e867cff4e9bb4a16248626fde32-2
+[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
+2026-10-31T19:28:44Z [16,005,270ms] [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 : 0.201510 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...
+2026-10-31T19:28:48Z [16,009,985ms] [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.
+2026-10-31T19:28:48Z [16,009,986ms] [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.
+2026-10-31T19:28:48Z [16,009,995ms] [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.
+2026-10-31T19:28:48Z [16,009,995ms] [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.
+2026-10-31T19:28:48Z [16,010,004ms] [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.
+2026-10-31T19:28:48Z [16,010,011ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T19:28:48Z [16,010,029ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T19:28:49Z [16,010,872ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,010,873ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,010,978ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,010,978ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,010,996ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,010,997ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,011,010ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-31T19:28:49Z [16,011,010ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,280ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,280ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,285ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((382))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,286ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,286ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,287ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-31T19:28:51Z [16,012,287ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.948852 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_plan/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: 561, duration: 37.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.793287093691876, 'joint_sparc_mean': -13.399727775542337, 'ee_isj': 2387.62020908382, 'joint_isj': 117829.07705336685, 'ee_path_length': 4.003615805463069, 'joint_rmse_mean': 0.9509263000025874, 'ee_speed_max': 0.9560163021087646, 'ee_speed_mean': 0.1055222675204277}, events: {'TARGET_OBJECT_DROPPED': 10, 'GRIPPER_FULLY_CLOSED': 5}, instruction_type: default, timing: {'policy_inference_s': 1740.391, 'policy_inference_avg_ms': 3102.3, 'env_step_s': 150.19, 'env_step_avg_ms': 267.7, 'video_write_s': 4.717, 'video_write_avg_ms': 8.4, 'wall_total_s': 1895.299, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 0b2c7068ae474fb58c94dfa96c4b92e9-0
+[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_plan/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: 649, duration: 43.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.381877723491959, 'joint_sparc_mean': -13.972088287135522, 'ee_isj': 1981.3853619199654, 'joint_isj': 46702.62859214976, 'ee_path_length': 4.142706357265139, 'joint_rmse_mean': 1.1381814239575843, 'ee_speed_max': 0.7101062536239624, 'ee_speed_mean': 0.09091292321681976}, events: {'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1752.575, 'policy_inference_avg_ms': 2700.4, 'env_step_s': 173.867, 'env_step_avg_ms': 267.9, 'video_write_s': 5.129, 'video_write_avg_ms': 7.9, 'wall_total_s': 1931.571, 'it_per_sec': 0.34}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1a5ebd7830ca4d40b782303f1c7e69e6-1
+[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_plan/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: 513, duration: 34.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.368340570091437, 'joint_sparc_mean': -9.015135296428404, 'ee_isj': 1860.5173285167214, 'joint_isj': 55377.53290292662, 'ee_path_length': 4.0718734839114, 'joint_rmse_mean': 1.0996733202641111, 'ee_speed_max': 0.5188859105110168, 'ee_speed_mean': 0.11370432376861572}, events: {'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 8}, instruction_type: default, timing: {'policy_inference_s': 1245.909, 'policy_inference_avg_ms': 2428.7, 'env_step_s': 134.896, 'env_step_avg_ms': 263.0, 'video_write_s': 4.618, 'video_write_avg_ms': 9.0, 'wall_total_s': 1385.422, 'it_per_sec': 0.37}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 9501e3869b544d09a026e61ef62a9de0-2
+[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
+2026-10-31T20:57:17Z [21,318,550ms] [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 : 0.188862 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...
+2026-10-31T20:57:21Z [21,322,607ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T20:57:21Z [21,322,712ms] [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.
+2026-10-31T20:57:21Z [21,322,712ms] [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.
+2026-10-31T20:57:21Z [21,322,722ms] [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.
+2026-10-31T20:57:21Z [21,322,722ms] [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.
+2026-10-31T20:57:21Z [21,322,730ms] [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.
+2026-10-31T20:57:21Z [21,322,737ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T20:57:23Z [21,324,545ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-31T20:57:23Z [21,324,545ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-31T20:57:26Z [21,327,295ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+2026-10-31T20:57:26Z [21,327,296ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((612))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.669771 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 : 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_plan/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: False, episode_step: 300, duration: 20.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.414605358274244, 'joint_sparc_mean': -7.719623144984552, 'ee_isj': 889.4963520183018, 'joint_isj': 74467.81881502892, 'ee_path_length': 2.0399563062202994, 'joint_rmse_mean': 0.9942769506496149, 'ee_speed_max': 0.30062419176101685, 'ee_speed_mean': 0.09103994071483612}, events: {'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'OBJECT_BUMPED': 5, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 845.062, 'policy_inference_avg_ms': 2816.9, 'env_step_s': 61.166, 'env_step_avg_ms': 203.9, 'video_write_s': 3.047, 'video_write_avg_ms': 10.2, 'wall_total_s': 909.276, 'it_per_sec': 0.33}, 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: 4f31b63a600946acbc496241ffb207ae-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_plan/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: 276, duration: 18.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.815807989852386, 'joint_sparc_mean': -6.639845848858423, 'ee_isj': 621.4750159890641, 'joint_isj': 18734.44030986788, 'ee_path_length': 1.856724973720219, 'joint_rmse_mean': 1.0034486453200369, 'ee_speed_max': 0.4377835690975189, 'ee_speed_mean': 0.09363612532615662}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['bowl_2', 'bowl_1', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 944.035, 'policy_inference_avg_ms': 3420.4, 'env_step_s': 56.571, 'env_step_avg_ms': 205.0, 'video_write_s': 2.553, 'video_write_avg_ms': 9.3, 'wall_total_s': 1003.159, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 7b82fe5d0a6c476aba4b3fe2952b63e2-1
+[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_plan/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': -6.573975834966028, 'joint_sparc_mean': -5.41498612547139, 'ee_isj': 943.6597391253285, 'joint_isj': 56698.92843932736, 'ee_path_length': 2.2698405640086516, 'joint_rmse_mean': 1.0632645913107315, 'ee_speed_max': 0.4879560172557831, 'ee_speed_mean': 0.10196302831172943}, events: {'GRIPPER_FULLY_CLOSED': 4, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 921.1, 'policy_inference_avg_ms': 3070.3, 'env_step_s': 60.538, 'env_step_avg_ms': 201.8, 'video_write_s': 3.006, 'video_write_avg_ms': 10.0, 'wall_total_s': 984.644, 'it_per_sec': 0.3}, 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: 405ede4519da4dc3a088a59d78af71ca-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 (3 tasks)             5/9      55.6%   [26.2-81.3]    0.611        0.125       36.47   -8.26    4.27       10.3        0.27 44.3       
+---------------------------------------------------------------------------------------------------------------------------------------------------------------
+BowlStackingRightOnLeftTask 1/3      33.3%   [6.8-80.6]     0.333        0.000       18.40   -6.60    2.06       9.6         0.30 16.1       
+RedItemsInBinTask           3/3      100.0%  [39.8-99.4]    1.000        -           38.29   -7.18    4.07       10.3        0.34 29.0       
+ReorientWhiteMugsTask       1/3      33.3%   [6.8-80.6]     0.500        0.250       49.07   -11.00   6.67       11.1        0.17 87.7       
+---------------------------------------------------------------------------------------------------------------------------------------------------------------
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"contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the right bowl on the left bowl", "contact_object_list": ["bowl_1", "bowl_2", "table"], "_instruction_variants": {"default": "Stack the right bowl on the left bowl", "vague": "Stack the right bowl on the left", "specific": "Pick up the bowl to the right of the robot and place it on top of the bowl to the left of the robot"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..52060491a814d9479ab3d28ba3f779c940604ffd
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_4/robolab/BowlStackingRightOnLeftTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/BowlStackingRightOnLeftTask/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_plan/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..54cd5e2403643cc9e7b334d5bc8923b776f00f53
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json
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{"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure all the white mugs are 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": "Make sure all the white mugs are upright so that the opening is facing upwards.", "vague": "Fix the cups", "specific": "For each white mug that is tipped over or upside down, rotate it so the opening faces straight up"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7e6a5969cd0bed13b9d45dc0c4bb615e22fa73
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 0, "success": true, "final_step": 736, "events": [{"step": 72, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 147, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 147, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 147, "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": 161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 161, "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": 197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 239, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.067m", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 310, "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": 313, "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": 328, "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": 329, "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": 334, "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": 420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.184m", "score": 0.5}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=sideways_white_mug). regressing to step 0 for 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object_grabbed(object=sideways_white_mug). regressing to step 0 for reorienting_sideways_white_mug.", "score": 0.0}, {"step": 521, "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": 522, "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": 523, "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": 526, "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": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: 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object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for reorienting_sideways_white_mug.", "score": 0.5}, {"step": 551, "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": 552, "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": 556, "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": 557, "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": 559, "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": 560, "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": 562, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.076m", "score": 0.5}, {"step": 572, "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": 573, "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": 577, "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": 579, "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": 582, "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": 583, "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": 586, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.092m", "score": 0.5}, {"step": 593, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.191m", "score": 0.5}, {"step": 633, "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": 634, "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": 658, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.307m", "score": 0.0}, {"step": 658, "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": 664, "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": 665, "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": 667, "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": 668, "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": 675, "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": 680, "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": 682, "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": 687, "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": 688, "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": 692, "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": 697, "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": 700, "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": 701, "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": 705, "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": 707, "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": 712, "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": 725, "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": 726, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 726, "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": 727, "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": 728, "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": 729, "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": 731, "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": 734, "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": 735, "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": 736, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_white_mugs' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..872d6f6339226e0f66cd95b2fca485452544ab16
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/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": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 93, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 95, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 95, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 148, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 148, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 290, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 308, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 367, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 367, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 368, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 429, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 490, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.089m", "score": 0.0}, {"step": 529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 553, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.150m", "score": 0.0}, {"step": 562, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.247m", "score": 0.0}, {"step": 617, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 619, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.190m", "score": 0.0}, {"step": 665, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 673, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.210m", "score": 0.0}, {"step": 703, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.109m", "score": 0.0}, {"step": 705, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.055m", "score": 0.0}, {"step": 722, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 0.0}, {"step": 754, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.143m", "score": 0.0}, {"step": 769, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.090m", "score": 0.0}, {"step": 778, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.084m", "score": 0.0}, {"step": 785, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.083m", "score": 0.0}, {"step": 803, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.057m", "score": 0.0}, {"step": 820, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.056m", "score": 0.0}, {"step": 869, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 869, "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": 873, "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": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 890, "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_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4fd57f457a0d9bc8ffbf12a8ca41585d149a6f
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientWhiteMugsTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 34, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 54, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 61, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.072m", "score": 0.0}, {"step": 125, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 127, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 127, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.055m", "score": 0.0}, {"step": 180, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 185, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 203, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.068m", "score": 0.0}, {"step": 266, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 400, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 420, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.054m", "score": 0.0}, {"step": 492, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.051m", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.0}, {"step": 509, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 518, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.099m", "score": 0.0}, {"step": 607, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 607, "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": 609, "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": 617, "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": 626, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 631, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 641, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 641, "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": 643, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.095m", "score": 0.0}, {"step": 666, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 666, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=sideways_white_mug). advanced 1 step(s) to step 1 for 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\ No newline at end of file
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diff --git a/harness_robolab_exploration/embo_plan/gpu_5/client.log b/harness_robolab_exploration/embo_plan/gpu_5/client.log
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+2026-10-31T15:01:59Z [868ms] [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'
+2026-10-31T15:02:04Z [5,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,296ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,393ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,041ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,043ms] [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)
+2026-10-31T15:02:07Z [9,044ms] [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          | Yes: 0 |     | 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: 972371
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,524ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,524ms] [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 
+     0 893.30   1.04   1.70   2.31   4.94   6.68   8.14  15.56 
+     1   2.02 897.99   1.01   1.07   4.68   7.93   8.73   9.45 
+     2   4.09   5.49 897.47   6.14   2.80   6.98  13.22  20.73 
+     3   5.00   7.12   6.63 904.75   6.32  18.40  10.43  18.03 
+     4  11.71   7.45   8.21  12.06 905.32   8.51  12.04   4.22 
+     5  15.03  14.38  14.56  13.63   6.13 883.27   8.44   7.07 
+     6  14.09  15.45  15.77  14.69  15.19   3.86 915.89  10.04 
+     7  11.70  11.39  13.40  14.94  14.24  16.41   8.17 926.75 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.50  18.01  33.37  17.62  11.44  15.79  16.21  20.73 
+     1  15.79   1.51  35.23  16.00  17.31  17.07  15.19  17.08 
+     2  12.53  31.05   1.36  30.02  13.76  11.98  11.30  16.26 
+     3  18.01  34.10  17.00   1.54  19.38  18.36  18.74  17.02 
+     4  11.58  11.42  24.53  28.08   1.36  11.35  11.51  16.52 
+     5  11.51  13.13  46.71  11.61  36.60   1.45  14.64  30.74 
+     6  12.56  12.78  14.40  11.52  34.31  13.02   1.43  26.58 
+     7 240.95 567.82 451.43 267.59  13.37  69.12  18.07   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.26  10.23   9.64   9.57   8.81   8.60   8.60   8.42 
+     1   9.69   2.99   9.40   9.18   8.57   8.37   8.15   8.23 
+     2  10.25   9.38   3.00   9.34   8.49   8.44   9.29   8.70 
+     3   9.47   9.62   9.80   2.88   8.44   8.41   8.28   8.50 
+     4   8.95   8.52   8.90   8.68   2.55   7.78   7.77   7.69 
+     5   8.99   8.56   8.89   8.74   7.94   2.56   7.87   7.81 
+     6   9.19   8.50   8.83   8.80   7.85   7.83   2.63   7.77 
+     7   8.82   8.78   9.11   8.70   8.02   8.02   7.90   2.64 
+2026-10-31T15:02:24Z [25,931ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.0 GB/s.
+2026-10-31T15:02:24Z [25,931ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 567.8 us.
+2026-10-31T15:02:24Z [25,931ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:28Z [29,754ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,756ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,868ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,869ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,889ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,889ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,087ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,087ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,092ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,093ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,099ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,100ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:30Z [31,400ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,418ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,928ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,469ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,349ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,353ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,057ms] [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.
+2026-10-31T15:03:09Z [70,448ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,448ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,449ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,472ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,514ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,515ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['SpoonInMugTask', 'OneBottleInSquarePailTask', 'RubiksCubeThenBananaTask']
+2026-10-31T15:03:25Z [86,711ms] [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@ <0x558fa8ed5310>)
+
+2026-10-31T15:03:25Z [86,712ms] [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@ <0x558fa8ed5310>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SpoonInMugTask, OneBottleInSquarePailTask, RubiksCubeThenBananaTask
+  Environments   : SpoonInMugTask, OneBottleInSquarePailTask, RubiksCubeThenBananaTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_5/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
+2026-10-31T15:03:32Z [93,135ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 2.970819 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...
+2026-10-31T15:03:40Z [101,661ms] [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.
+2026-10-31T15:03:40Z [101,662ms] [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.
+2026-10-31T15:03:40Z [101,697ms] [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.
+2026-10-31T15:03:40Z [101,697ms] [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.
+2026-10-31T15:03:40Z [101,706ms] [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.
+2026-10-31T15:03:40Z [101,713ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:40Z [101,954ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:40Z [101,989ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:47Z [108,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,614ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,614ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:47Z [108,615ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,626ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,626ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,629ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,630ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,642ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,642ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,679ms] [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.
+2026-10-31T15:03:48Z [109,679ms] [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.
+2026-10-31T15:03:48Z [109,685ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,685ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,712ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,712ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,722ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,722ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,737ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,737ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,745ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-10-31T15:03:48Z [109,745ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,372ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,372ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,977ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:03:55Z [116,265ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,266ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,266ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,267ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,267ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((121))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,268ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,268ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,268ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,268ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,269ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,269ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,270ms] [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.
+2026-10-31T15:03:55Z [116,270ms] [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.
+2026-10-31T15:03:55Z [116,270ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,270ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,272ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,272ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((168))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,273ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,273ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,407ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,407ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((212))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 21.388188 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.272875128613414, 'joint_sparc_mean': -22.304221784805407, 'ee_isj': 79219.04768692382, 'joint_isj': 1380838.013800189, 'ee_path_length': 8.7425517178522, 'joint_rmse_mean': 1.3253085194946395, 'ee_speed_max': 6.18948221206665, 'ee_speed_mean': 0.14195072650909424}, events: {'OBJECT_BUMPED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'GRIPPER_FULLY_CLOSED': 9, 'TARGET_OBJECT_DROPPED': 2, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['ceramic_mug', 'ceramic_mug', 'ceramic_mug']}, instruction_type: default, timing: {'policy_inference_s': 4966.397, 'policy_inference_avg_ms': 5518.2, 'env_step_s': 438.769, 'env_step_avg_ms': 487.5, 'video_write_s': 7.539, 'video_write_avg_ms': 8.4, 'wall_total_s': 5412.705, 'it_per_sec': 0.17}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: f1b98d3b06aa4abb996d9992ba5d384b-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_plan/gpu_5/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': -5.405155015625187, 'joint_sparc_mean': -16.3841364585898, 'ee_isj': 648524.5377207296, 'joint_isj': 6848492.3019934455, 'ee_path_length': 16.960774187820164, 'joint_rmse_mean': 1.2640151438030827, 'ee_speed_max': 10.56124210357666, 'ee_speed_mean': 0.3002896010875702}, events: {'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_OBJECT': 3, 'TARGET_OBJECT_DROPPED': 4, 'WRONG_OBJECT_GRABBED': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 7, 'OBJECT_OUT_OF_SCENE': 3, 'OBJECT_MOVED': 3, 'GRIPPER_HIT_TABLE': 1, 'wrong_objects_grabbed': ['wooden_bowl', 'wooden_bowl', 'wooden_bowl', 'wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 7950.603, 'policy_inference_avg_ms': 8834.0, 'env_step_s': 442.058, 'env_step_avg_ms': 491.2, 'video_write_s': 7.409, 'video_write_avg_ms': 8.2, 'wall_total_s': 8400.069, 'it_per_sec': 0.11}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: b33716206ece4534a07c842fe6cc8c2e-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_plan/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.816805380042414, 'joint_sparc_mean': -21.347994869159972, 'ee_isj': 2413.9503079854558, 'joint_isj': 239296.60013015522, 'ee_path_length': 5.935043836130145, 'joint_rmse_mean': 1.0519723327446324, 'ee_speed_max': 0.6557815670967102, 'ee_speed_mean': 0.09334458410739899}, events: {'GRIPPER_FULLY_CLOSED': 10, 'TARGET_OBJECT_DROPPED': 3, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['wooden_bowl', 'wooden_bowl', 'wooden_bowl', 'wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 4940.918, 'policy_inference_avg_ms': 5489.9, 'env_step_s': 437.5, 'env_step_avg_ms': 486.1, 'video_write_s': 7.109, 'video_write_avg_ms': 7.9, 'wall_total_s': 5385.527, 'it_per_sec': 0.17}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 4a4e1a563ae54fe28b19d0b68798a7ff-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
+2026-10-31T20:25:33Z [19,414,502ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.234356 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...
+2026-10-31T20:25:38Z [19,419,499ms] [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.
+2026-10-31T20:25:38Z [19,419,500ms] [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.
+2026-10-31T20:25:38Z [19,419,510ms] [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.
+2026-10-31T20:25:38Z [19,419,510ms] [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.
+2026-10-31T20:25:38Z [19,419,518ms] [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.
+2026-10-31T20:25:38Z [19,419,525ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T20:25:38Z [19,419,544ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T20:25:38Z [19,419,740ms] [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((284))' not available in the MDL representation.
+2026-10-31T20:25:38Z [19,419,740ms] [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((284))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,420,970ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((335))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,420,971ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((335))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,420,990ms] [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((341))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,420,990ms] [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((341))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,021ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,021ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,024ms] [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((364))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,024ms] [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((364))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,044ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,044ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,068ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,068ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((383))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,086ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-31T20:25:39Z [19,421,086ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,291ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,291ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((395))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,296ms] [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((398))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,296ms] [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((398))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,297ms] [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((399))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,298ms] [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((399))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,760ms] [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((422))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,760ms] [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((422))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,767ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,767ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((425))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,786ms] [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((431))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,786ms] [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((431))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,822ms] [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((445))' not available in the MDL representation.
+2026-10-31T20:25:40Z [19,421,823ms] [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((445))' not available in the MDL representation.
+2026-10-31T20:25:41Z [19,422,152ms] [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((494))' not available in the MDL representation.
+2026-10-31T20:25:41Z [19,422,152ms] [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((494))' not available in the MDL representation.
+2026-10-31T20:25:42Z [19,423,961ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-31T20:25:42Z [19,423,961ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,540ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((335))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,540ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((335))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,541ms] [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((341))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,541ms] [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((341))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,543ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,543ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((370))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,545ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,545ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((387))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,548ms] [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((431))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,548ms] [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((431))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,554ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+2026-10-31T20:25:43Z [19,424,554ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((520))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.921160 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 : 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_plan/gpu_5/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': -10.661752771612207, 'joint_sparc_mean': -22.978651718133552, 'ee_isj': 3612.152522392761, 'joint_isj': 241467.9027086541, 'ee_path_length': 6.632921597315359, 'joint_rmse_mean': 0.9940983707006267, 'ee_speed_max': 0.5485460758209229, 'ee_speed_mean': 0.10662269592285156}, events: {'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 10, 'OBJECT_BUMPED': 3, 'TARGET_OBJECT_DROPPED': 7, 'wrong_objects_grabbed': ['utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 2274.18, 'policy_inference_avg_ms': 2526.9, 'env_step_s': 271.774, 'env_step_avg_ms': 302.0, 'video_write_s': 8.444, 'video_write_avg_ms': 9.4, 'wall_total_s': 2554.399, 'it_per_sec': 0.35}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 881262714c3448a292fb53cf50aa79ed-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_plan/gpu_5/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': -8.533660389184403, 'joint_sparc_mean': -14.217327219054821, 'ee_isj': 2020.5158083758197, 'joint_isj': 183235.5444727725, 'ee_path_length': 4.453142283335871, 'joint_rmse_mean': 1.1697678883326126, 'ee_speed_max': 0.479316383600235, 'ee_speed_mean': 0.07006870955228806}, events: {'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 4, 'TARGET_OBJECT_DROPPED': 3, 'wrong_objects_grabbed': ['utilityjug_a01', 'utilityjug_a01']}, instruction_type: default, timing: {'policy_inference_s': 2004.726, 'policy_inference_avg_ms': 2227.5, 'env_step_s': 276.738, 'env_step_avg_ms': 307.5, 'video_write_s': 8.015, 'video_write_avg_ms': 8.9, 'wall_total_s': 2289.48, 'it_per_sec': 0.39}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 81d12dda9c92464284a324fb17eb345a-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_plan/gpu_5/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': -8.273506887718938, 'joint_sparc_mean': -15.172449124422076, 'ee_isj': 363592.47828978027, 'joint_isj': 7415164.314757743, 'ee_path_length': 14.89644324543972, 'joint_rmse_mean': 1.6016012369372614, 'ee_speed_max': 9.40530776977539, 'ee_speed_mean': 0.2571123540401459}, events: {'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 5, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 6, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['utilityjug_a02', 'utilityjug_a02', 'utilityjug_a02']}, instruction_type: default, timing: {'policy_inference_s': 2613.641, 'policy_inference_avg_ms': 2904.0, 'env_step_s': 268.145, 'env_step_avg_ms': 297.9, 'video_write_s': 7.583, 'video_write_avg_ms': 8.4, 'wall_total_s': 2889.369, 'it_per_sec': 0.31}, score: 0.0, reason: No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2), harness_episode_id: 1fc0c4eab2f74d6e8fc9fb06a5c63bb4-2
+[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
+2026-10-31T22:36:01Z [27,242,218ms] [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:5
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.186862 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...
+2026-10-31T22:36:05Z [27,246,298ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T22:36:05Z [27,246,393ms] [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.
+2026-10-31T22:36:05Z [27,246,393ms] [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.
+2026-10-31T22:36:05Z [27,246,402ms] [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.
+2026-10-31T22:36:05Z [27,246,402ms] [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.
+2026-10-31T22:36:05Z [27,246,414ms] [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.
+2026-10-31T22:36:05Z [27,246,422ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T22:36:06Z [27,247,369ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T22:36:06Z [27,247,369ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T22:36:06Z [27,247,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-31T22:36:06Z [27,247,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-31T22:36:06Z [27,247,604ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((695))' not available in the MDL representation.
+2026-10-31T22:36:06Z [27,247,604ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((695))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,603ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,603ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((673))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,604ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,604ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,605ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((695))' not available in the MDL representation.
+2026-10-31T22:36:07Z [27,248,605ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((695))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.309167 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_5/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: 323, duration: 21.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.137393765477567, 'joint_sparc_mean': -7.409843980093738, 'ee_isj': 983.4193265673493, 'joint_isj': 18768.304501002374, 'ee_path_length': 2.171530892015428, 'joint_rmse_mean': 1.1049863099197903, 'ee_speed_max': 0.4601297378540039, 'ee_speed_mean': 0.09371590614318848}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 935.239, 'policy_inference_avg_ms': 2895.5, 'env_step_s': 67.23, 'env_step_avg_ms': 208.1, 'video_write_s': 3.134, 'video_write_avg_ms': 9.7, 'wall_total_s': 1005.604, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 7e2bff5c283e425a9d0f9858c4087501-0
+[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_plan/gpu_5/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: 401, duration: 26.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.16839140658266, 'joint_sparc_mean': -12.167154988944574, 'ee_isj': 1391.9210933746447, 'joint_isj': 83272.20687806472, 'ee_path_length': 2.5241893333451157, 'joint_rmse_mean': 1.0815560451646382, 'ee_speed_max': 0.580929160118103, 'ee_speed_mean': 0.08924879878759384}, events: {'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 976.374, 'policy_inference_avg_ms': 2434.8, 'env_step_s': 81.806, 'env_step_avg_ms': 204.0, 'video_write_s': 3.578, 'video_write_avg_ms': 8.9, 'wall_total_s': 1061.758, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 38081cbc9e6a404c91fb66ce756dd672-1
+[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_plan/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.336898320316518, 'joint_sparc_mean': -15.74586866235065, 'ee_isj': 2756.249738415911, 'joint_isj': 129935.57531931953, 'ee_path_length': 5.847666027944643, 'joint_rmse_mean': 1.116619766482854, 'ee_speed_max': 0.4692787826061249, 'ee_speed_mean': 0.09046661108732224}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 12, 'TARGET_OBJECT_DROPPED': 4, 'WRONG_OBJECT_GRABBED': 15, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['rubiks_cube', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'banana', 'bowl']}, instruction_type: default, timing: {'policy_inference_s': 2277.694, 'policy_inference_avg_ms': 2530.8, 'env_step_s': 183.455, 'env_step_avg_ms': 203.8, 'video_write_s': 7.273, 'video_write_avg_ms': 8.1, 'wall_total_s': 2468.423, 'it_per_sec': 0.36}, score: 1.0, reason: Condition not satisfied: object_grabbed(object=banana) (step 1/2), harness_episode_id: db224fe40c0f474eab38da714622d20f-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 (3 tasks)           2/9      22.2%   [6.7-55.6]     0.333        0.143       24.13   -9.18    7.57       13.8        0.28 58.3       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------
+OneBottleInSquarePailTask 0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -9.16    8.66       14.5        0.35 43.0       
+RubiksCubeThenBananaTask  2/3      66.7%   [19.4-93.2]    1.000        1.000       24.13   -8.88    3.51       9.1         0.35 25.2       
+SpoonInMugTask            0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -9.50    10.55      17.9        0.15 106.7      
+-------------------------------------------------------------------------------------------------------------------------------------------------------------
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"observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "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}, "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, 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"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": ["whitepackerbottle_a01", "whitepackerbottle_a02", "whitepackerbottle_a03"], "container": "squarepail_a01", "logical": "any", 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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_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a4e1c82fd11f4b484a5915979f9aab2d2b8b87
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/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": 153, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 171, "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": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 280, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.313m", "score": 0.0}, {"step": 346, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 450, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 489, "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": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 507, "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": 512, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 517, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.129m", "score": 0.0}, {"step": 606, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 671, "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": 679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 681, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 729, "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": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 742, "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": 744, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 745, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 745, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 760, "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": 769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 809, "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": 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=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 858, "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": 862, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 863, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 863, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 885, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.213m", "score": 0.0}, {"step": 890, "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": 897, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 897, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 898, "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_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2faf57703f4e5d7c7f22e80c1c231160c79a434
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/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": 145, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 218, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 299, "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": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 301, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.058m", "score": 0.0}, {"step": 344, "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": 385, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.393m", "score": 0.0}, {"step": 393, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.067m", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 408, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.142m", "score": 0.0}, {"step": 466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "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": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 534, "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": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 570, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 582, "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": 601, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 601, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd3243f2cbc084062df3822d35f5eef0976f07b3
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
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"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:objects_placed_in_container_in_order", "params": {"objects": ["rubiks_cube", "banana"], "container": "bowl", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"rubiks_cube": [["functools.partial(<function object_grabbed at 0x7f65e8a29d00>, object='rubiks_cube')", 0.0], ["functools.partial(<function object_in_container at 0x7f65e8a29b20>, 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"}, {"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7f65e8a29d00>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7f65e8a29b20>, 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"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "RubiksCubeThenBananaTask", "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 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_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..336792b83a843acec59342d96f4010bf8fc7bc98
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/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": 323, "events": [{"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 88, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 99, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 131, "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": 133, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 133, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 134, "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": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 193, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 265, "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": 321, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 321, "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_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2acf527930b12709d48b4b964879a0131274c5f9
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/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": 401, "events": [{"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "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": 225, "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": 228, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 228, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "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": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 329, "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": 401, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 401, "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_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9d6381cd7f6f032c127b26da0968585986079a
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/robolab/RubiksCubeThenBananaTask/log_2_env0.json
@@ -0,0 +1 @@
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"time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7f65e8a29d00>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f65e8a29b20>, 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_plan/gpu_5/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c0079e5dac6336a7bc9dfc0b28d3a7e5c12ad0
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.079m", "score": 0.0}, {"step": 161, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'granola_bars'", "score": 0.0}, {"step": 166, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'granola_bars' displaced 1.088m", "score": 0.0}, {"step": 466, "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": 467, "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=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 610, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 625, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 625, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 691, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 693, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 693, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 818, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 826, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 828, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 885, "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": 889, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 889, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 138, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 338, "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": 359, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 359, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 385, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 385, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 391, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 392, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 393, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 394, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 396, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 397, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 397, "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": 398, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.054m", "score": 0.0}, {"step": 441, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.051m", "score": 0.0}, {"step": 459, "code": 263, "name": 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"Object out of scene: 'keyboard'", "score": 0.0}, {"step": 656, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'grey_bin'", "score": 0.0}, {"step": 664, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'grey_bin' displaced 1.863m", "score": 0.0}, {"step": 665, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'keyboard' displaced 2.098m", "score": 0.0}, {"step": 666, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.341m", "score": 0.0}, {"step": 709, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.052m", "score": 0.0}, {"step": 715, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'granola_bars' nudged 0.095m", "score": 0.0}, {"step": 725, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wooden_bowl'", "score": 0.0}, {"step": 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/log_2_env0.json
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_plan/gpu_5/robolab/SpoonInMugTask/run_0.hdf5
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+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_plan/gpu_5/harness/20261031T150155.798495Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_5/harness/20261031T150155.798495Z_eval.episodes.jsonl
+INFO:root:Plan before execution: True
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+INFO:root:Manipulation notes included: False; 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
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diff --git a/harness_robolab_exploration/embo_plan/gpu_6/client.log b/harness_robolab_exploration/embo_plan/gpu_6/client.log
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+[2026-10-31T15:01:53Z] GPU 6: Starting worker at BlockStackingSpecifiedOrderTask/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_20261031_150158.log
+2026-10-31T15:01:58Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-10-31T15:01:58Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-10-31T15:01:58Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-10-31T15:01:58Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-10-31T15:01:58Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-10-31T15:01:58Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-10-31T15:01:58Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-10-31T15:01:58Z [75ms] [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'
+2026-10-31T15:01:58Z [108ms] [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'
+2026-10-31T15:01:59Z [185ms] [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'
+2026-10-31T15:01:59Z [273ms] [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'
+2026-10-31T15:01:59Z [381ms] [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'
+2026-10-31T15:01:59Z [477ms] [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'
+2026-10-31T15:01:59Z [590ms] [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'
+2026-10-31T15:01:59Z [674ms] [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'
+2026-10-31T15:01:59Z [773ms] [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'
+2026-10-31T15:01:59Z [869ms] [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'
+2026-10-31T15:02:04Z [5,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,277ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,391ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,064ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,065ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:07Z [9,066ms] [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: 972357
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,498ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,499ms] [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 
+     0 900.01   2.86   3.13   5.02   1.65   2.03   5.03   6.12 
+     1   1.88 901.10   0.90   1.17  11.42   8.28   7.06   8.64 
+     2   7.50   9.45 900.06   5.29   4.22   5.68  11.39  19.41 
+     3   8.39  15.50  10.52 905.80  16.85   2.67   6.25   6.19 
+     4   9.45   6.62   2.02   2.91 889.06   5.20  13.79  11.53 
+     5   8.17   3.36  11.30  11.80  14.35 903.73   2.71  11.50 
+     6   9.64   6.84   6.06   4.00   8.50  12.12 897.47   6.01 
+     7  14.17  10.15  12.87  13.15  14.66  13.89  13.22 916.42 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  11.37  11.59  11.43  48.28  11.35  11.45  28.59 
+     1  11.87   1.45  11.36  11.44  13.64  11.81  11.29  25.19 
+     2  11.35  11.23   1.44  11.34  11.51  42.05  11.25  27.08 
+     3  11.38  11.39  11.50   1.54  12.56  38.31  11.34  27.82 
+     4  11.33  11.50  11.33  11.42   1.54  11.44  51.15  26.19 
+     5  11.89  11.54  12.63  11.27  11.53   1.45  42.47  27.27 
+     6  17.17  16.78  16.42  18.59  20.05  11.26   1.45  21.89 
+     7  11.35  12.27  11.67  11.27  11.50  11.50  11.60   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.35   7.00   7.42   7.49   8.18   7.42   7.54   7.61 
+     1   6.83   2.26   7.40   7.26   8.15   7.36   7.51   7.50 
+     2   7.37   7.31   2.53   7.79   8.64   8.01   7.98   8.08 
+     3   7.35   7.36   7.89   2.56   8.73   8.01   7.91   7.90 
+     4   7.89   7.80   8.31   8.37   2.79   8.52   8.58   8.56 
+     5   7.33   7.07   7.74   7.69   8.56   2.47   8.07   8.10 
+     6   7.36   7.26   7.76   7.85   8.70   7.82   2.48   8.02 
+     7   7.28   7.15   7.81   7.83   8.78   7.98   8.16   2.51 
+2026-10-31T15:02:25Z [26,445ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 0.9 GB/s.
+2026-10-31T15:02:25Z [26,446ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 51.2 us.
+2026-10-31T15:02:25Z [26,446ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:28Z [29,759ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,760ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,874ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,874ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,894ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,894ms] [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)
+2026-10-31T15:02:28Z [30,092ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,092ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,098ms] [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)
+2026-10-31T15:02:28Z [30,105ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,105ms] [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)
+2026-10-31T15:02:30Z [31,405ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,425ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,934ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,474ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,354ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,359ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,051ms] [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.
+2026-10-31T15:03:09Z [70,221ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,222ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,225ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,247ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,262ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,263ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'MustardInLeftBinTask']
+2026-10-31T15:03:25Z [86,714ms] [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@ <0x55fb2b0078e0>)
+
+2026-10-31T15:03:25Z [86,716ms] [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@ <0x55fb2b0078e0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: BlockStackingSpecifiedOrderTask, ReorientRedMugTask, MustardInLeftBinTask
+  Environments   : BlockStackingSpecifiedOrderTask, ReorientRedMugTask, MustardInLeftBinTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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
+2026-10-31T15:03:29Z [91,076ms] [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 : 0.574934 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...
+2026-10-31T15:03:38Z [99,878ms] [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.
+2026-10-31T15:03:38Z [99,878ms] [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.
+2026-10-31T15:03:38Z [99,957ms] [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.
+2026-10-31T15:03:38Z [99,957ms] [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.
+2026-10-31T15:03:38Z [99,964ms] [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.
+2026-10-31T15:03:38Z [99,971ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:38Z [100,134ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:39Z [100,150ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:04:05Z [126,329ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 35.091427 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 : 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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: 385, duration: 25.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.011119155024769, 'joint_sparc_mean': -10.371103990861899, 'ee_isj': 1664.3104244113676, 'joint_isj': 16496.2150085686, 'ee_path_length': 2.7590084309177403, 'joint_rmse_mean': 0.9247867155174386, 'ee_speed_max': 0.5891846418380737, 'ee_speed_mean': 0.10009393095970154}, events: {'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 833.855, 'policy_inference_avg_ms': 2165.9, 'env_step_s': 87.352, 'env_step_avg_ms': 226.9, 'video_write_s': 3.223, 'video_write_avg_ms': 8.4, 'wall_total_s': 924.429, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 43311d2179f64ab392c3d250e55042c2-0
+[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_plan/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: 581, duration: 38.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.344338233636675, 'joint_sparc_mean': -11.316662819533294, 'ee_isj': 3072.943934025022, 'joint_isj': 32764.65839619497, 'ee_path_length': 4.181332088199067, 'joint_rmse_mean': 0.9460057944449237, 'ee_speed_max': 0.616937518119812, 'ee_speed_mean': 0.10107653588056564}, events: {'GRIPPER_FULLY_CLOSED': 4, 'WRONG_OBJECT_GRABBED': 10, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['blue_block', 'blue_block', 'blue_block', 'blue_block', 'blue_block', 'blue_block', 'blue_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 2520.42, 'policy_inference_avg_ms': 4338.1, 'env_step_s': 129.345, 'env_step_avg_ms': 222.6, 'video_write_s': 4.975, 'video_write_avg_ms': 8.6, 'wall_total_s': 2654.74, 'it_per_sec': 0.22}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: c2b8fee70ef2408393b928449b46214c-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_plan/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: True, episode_step: 420, duration: 28.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.673405657111003, 'joint_sparc_mean': -12.205222863912054, 'ee_isj': 2058.6246408580846, 'joint_isj': 92447.37459366933, 'ee_path_length': 3.3065000804420914, 'joint_rmse_mean': 0.9781568183537945, 'ee_speed_max': 0.6233572363853455, 'ee_speed_mean': 0.10976514965295792}, events: {'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['blue_block', 'red_block', 'blue_block', 'red_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 1535.024, 'policy_inference_avg_ms': 3654.8, 'env_step_s': 92.753, 'env_step_avg_ms': 220.8, 'video_write_s': 3.775, 'video_write_avg_ms': 9.0, 'wall_total_s': 1631.552, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 8f0dceaf496c4fc089edae95f876a137-2
+[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
+2026-10-31T16:32:20Z [5,421,710ms] [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 : 0.223879 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...
+2026-10-31T16:32:24Z [5,425,256ms] [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.
+2026-10-31T16:32:24Z [5,425,256ms] [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.
+2026-10-31T16:32:24Z [5,425,264ms] [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.
+2026-10-31T16:32:24Z [5,425,264ms] [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.
+2026-10-31T16:32:24Z [5,425,272ms] [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.
+2026-10-31T16:32:24Z [5,425,278ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T16:32:24Z [5,425,296ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T16:32:24Z [5,425,989ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,425,989ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,028ms] [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.
+2026-10-31T16:32:24Z [5,426,028ms] [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.
+2026-10-31T16:32:24Z [5,426,069ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,069ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,075ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,075ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,088ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-31T16:32:24Z [5,426,089ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-31T16:32:25Z [5,426,974ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((510))' not available in the MDL representation.
+2026-10-31T16:32:25Z [5,426,974ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((510))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,500ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((363))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,502ms] [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.
+2026-10-31T16:32:26Z [5,427,502ms] [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.
+2026-10-31T16:32:26Z [5,427,504ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,504ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((407))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,504ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,504ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,505ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,505ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,510ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((510))' not available in the MDL representation.
+2026-10-31T16:32:26Z [5,427,510ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((510))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.683533 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 : 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_plan/gpu_6/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: True, episode_step: 291, duration: 19.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.419724424162753, 'joint_sparc_mean': -8.471590979905125, 'ee_isj': 542.2334820000283, 'joint_isj': 20589.22856039899, 'ee_path_length': 1.5473456312257108, 'joint_rmse_mean': 0.9106786943380776, 'ee_speed_max': 0.26645705103874207, 'ee_speed_mean': 0.07481785118579865}, events: {'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 1036.402, 'policy_inference_avg_ms': 3561.5, 'env_step_s': 82.687, 'env_step_avg_ms': 284.1, 'video_write_s': 2.95, 'video_write_avg_ms': 10.1, 'wall_total_s': 1122.039, 'it_per_sec': 0.26}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: bd66fe1e978b431ba380377b2e1f73df-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_plan/gpu_6/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: True, episode_step: 249, duration: 16.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.450148037176234, 'joint_sparc_mean': -9.633149415731824, 'ee_isj': 500.72476342944583, 'joint_isj': 132012.82238912862, 'ee_path_length': 1.3025088878910904, 'joint_rmse_mean': 1.0059405646950486, 'ee_speed_max': 0.31450703740119934, 'ee_speed_mean': 0.07453227043151855}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 2, 'WRONG_OBJECT_GRABBED': 1, 'wrong_objects_grabbed': ['red_mug']}, instruction_type: default, timing: {'policy_inference_s': 2563.302, 'policy_inference_avg_ms': 10294.4, 'env_step_s': 72.496, 'env_step_avg_ms': 291.2, 'video_write_s': 2.733, 'video_write_avg_ms': 11.0, 'wall_total_s': 2638.532, 'it_per_sec': 0.09}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 884c4b71c6f6499380ac3ac46e331c94-1
+[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_plan/gpu_6/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: 493, duration: 32.86666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.737241206795847, 'joint_sparc_mean': -11.240093745316196, 'ee_isj': 817.5527087427333, 'joint_isj': 195947.9408102869, 'ee_path_length': 2.371047417749891, 'joint_rmse_mean': 1.2038225086271954, 'ee_speed_max': 0.296696275472641, 'ee_speed_mean': 0.06559246778488159}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_FULLY_CLOSED': 5, 'OBJECT_BUMPED': 7, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 2874.864, 'policy_inference_avg_ms': 5831.4, 'env_step_s': 143.045, 'env_step_avg_ms': 290.2, 'video_write_s': 4.06, 'video_write_avg_ms': 8.2, 'wall_total_s': 3021.97, 'it_per_sec': 0.16}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 293d1c8101d2499b8f26a348fdfa1ceb-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
+2026-10-31T18:27:04Z [12,305,687ms] [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 : 0.183287 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...
+2026-10-31T18:27:08Z [12,309,698ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T18:27:08Z [12,309,800ms] [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.
+2026-10-31T18:27:08Z [12,309,800ms] [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.
+2026-10-31T18:27:08Z [12,309,809ms] [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.
+2026-10-31T18:27:08Z [12,309,809ms] [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.
+2026-10-31T18:27:08Z [12,309,817ms] [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.
+2026-10-31T18:27:08Z [12,309,824ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T18:27:09Z [12,310,172ms] [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.
+2026-10-31T18:27:09Z [12,310,172ms] [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.
+2026-10-31T18:27:10Z [12,312,059ms] [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.
+2026-10-31T18:27:10Z [12,312,060ms] [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 : 6.300529 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_plan/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': -8.59336964807229, 'joint_sparc_mean': -18.384534441986393, 'ee_isj': 982.49189351628, 'joint_isj': 162249.75325260605, 'ee_path_length': 2.4878674762944164, 'joint_rmse_mean': 0.9906650627939764, 'ee_speed_max': 0.2849833369255066, 'ee_speed_mean': 0.08028026670217514}, events: {'TARGET_OBJECT_DROPPED': 15, 'GRIPPER_FULLY_CLOSED': 6}, instruction_type: default, timing: {'policy_inference_s': 1459.733, 'policy_inference_avg_ms': 3243.9, 'env_step_s': 91.805, 'env_step_avg_ms': 204.0, 'video_write_s': 3.652, 'video_write_avg_ms': 8.1, 'wall_total_s': 1555.19, 'it_per_sec': 0.29}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: e989026778dc438b9279a73c7b0259df-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_plan/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': -7.09057846804172, 'joint_sparc_mean': -13.682809160919987, 'ee_isj': 893.7893954419706, 'joint_isj': 26982.027416446945, 'ee_path_length': 2.2163397995663847, 'joint_rmse_mean': 1.121635403269983, 'ee_speed_max': 0.25888004899024963, 'ee_speed_mean': 0.06980966031551361}, events: {'TARGET_OBJECT_DROPPED': 18, 'GRIPPER_FULLY_CLOSED': 8}, instruction_type: default, timing: {'policy_inference_s': 1898.665, 'policy_inference_avg_ms': 4219.3, 'env_step_s': 90.207, 'env_step_avg_ms': 200.5, 'video_write_s': 3.955, 'video_write_avg_ms': 8.8, 'wall_total_s': 1992.828, 'it_per_sec': 0.23}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: 9f1c85dbc07243779a1b9e9d04a93841-1
+[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_plan/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': -8.153902639728175, 'joint_sparc_mean': -9.676799285896902, 'ee_isj': 946.649726256275, 'joint_isj': 25594.142775512315, 'ee_path_length': 2.3512285923543135, 'joint_rmse_mean': 1.02880944243306, 'ee_speed_max': 0.2051524668931961, 'ee_speed_mean': 0.07583080232143402}, events: {'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1397.976, 'policy_inference_avg_ms': 3106.6, 'env_step_s': 90.115, 'env_step_avg_ms': 200.3, 'video_write_s': 3.626, 'video_write_avg_ms': 8.1, 'wall_total_s': 1491.716, 'it_per_sec': 0.3}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=mustard) (step 1/2), harness_episode_id: c8565bd20cc04ef898d8a0c68350f02c-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 (3 tasks)                 6/9      66.7%   [34.8-87.8]    0.667        0.000       26.88   -8.05    2.50       8.4         0.25 31.5       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           30.80   -8.68    3.42       10.4        0.30 28.9       
+MustardInLeftBinTask            0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.95    2.35       7.5         0.27 28.0       
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           22.96   -7.54    1.74       7.2         0.17 37.7       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
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+2026-10-31T19:05:46.416422Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
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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_plan/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..989f16b2ef778feea67acc98c56e17db1eaac404
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
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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_plan/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..983161e012021de209924f3f0d2663dcca8004f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 450, "events": [{"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 115, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 162, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 186, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 187, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 187, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 188, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 190, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 190, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 191, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 217, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 223, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 240, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 273, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 289, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 297, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 297, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 414, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 418, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 418, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 438, "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_plan/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef62761c82a0aedf302c5884c40837403207aadb
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 450, "events": [{"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 90, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 145, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 150, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 154, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 154, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 177, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 177, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 185, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 185, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 212, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 212, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 214, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 230, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 298, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 327, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 329, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 329, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 330, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 341, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 341, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 341, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 371, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 385, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 395, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 395, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 395, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 409, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 411, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 413, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 413, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 433, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..110f700df26eadfd1b90f16e1154cafb3539f38d
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "MustardInLeftBinTask", "env_id": 0, "run": 2, "success": false, "final_step": 450, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 165, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 189, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 204, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 208, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 208, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 210, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 233, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 250, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 250, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 250, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "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=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 312, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin_right'", "score": 0.0}, {"step": 331, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 373, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 393, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 393, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}, {"step": 442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mustard). advanced 1 step(s) to step 1 for mustard.", "score": 0.0}, {"step": 449, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 449, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=mustard). regressing to step 0 for mustard.", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_plan/gpu_6/robolab/MustardInLeftBinTask/run_0.hdf5
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"recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, 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{"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 0x7f444a23de40>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f444ac33560>, 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_plan/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bcbd16a7866fc34f53648802aa1e9ea1f8a02f2
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 0, "success": true, "final_step": 291, "events": [{"step": 58, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 88, "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": 99, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 102, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 102, "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": 118, "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": 122, "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": 123, "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": 153, "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": 154, "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=red_mug). advanced 1 step(s) to step 1 for reorienting_red_mug.", "score": 0.5}, {"step": 210, "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": 211, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 231, "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": 233, "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": 242, "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": 249, "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": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 252, "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": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.105m", "score": 0.5}, {"step": 285, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 285, "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": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'reorient_red_mug' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c722dc55f95f538c52feb590918947fdb4ef36
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_6/robolab/ReorientRedMugTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_plan/gpu_7/client.log b/harness_robolab_exploration/embo_plan/gpu_7/client.log
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+2026-10-31T15:01:58Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-10-31T15:01:58Z [76ms] [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'
+2026-10-31T15:01:59Z [151ms] [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'
+2026-10-31T15:01:59Z [249ms] [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'
+2026-10-31T15:01:59Z [349ms] [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'
+2026-10-31T15:01:59Z [442ms] [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'
+2026-10-31T15:01:59Z [485ms] [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'
+2026-10-31T15:01:59Z [638ms] [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'
+2026-10-31T15:01:59Z [683ms] [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'
+2026-10-31T15:01:59Z [783ms] [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'
+2026-10-31T15:01:59Z [875ms] [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'
+2026-10-31T15:02:04Z [5,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:04Z [5,202ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:04Z [5,349ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-31T15:02:07Z [9,061ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:07Z [9,061ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:07Z [9,062ms] [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: 972344
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-31T15:02:15Z [16,566ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-31T15:02:15Z [16,567ms] [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 
+     0 896.91   2.14   2.65   1.65   2.13   4.96   6.59   8.25 
+     1   2.27 872.42   0.90   1.07   4.69   7.95   8.86   9.49 
+     2   5.27   7.65 892.86   6.39   2.49  13.08  11.84  16.32 
+     3  12.75  13.29  10.34 890.82   8.63   6.58   6.25  11.73 
+     4   5.91   2.07   2.81   7.34 901.94   1.86  14.59   9.94 
+     5  10.86   7.67  18.95  13.50  11.86 886.78   4.33  10.11 
+     6   6.84   5.59   4.46   9.87   6.98  10.50 921.29   7.02 
+     7  11.62  13.20   7.66   7.21  15.33  18.17  18.35 941.27 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.50  11.44  11.52  11.52  11.52  11.52  11.43  11.52 
+     1  11.52   1.50  11.53  11.29  11.33  11.48  11.43  11.43 
+     2  11.49  11.32   1.54  11.35  11.34  11.11  11.31  11.38 
+     3  12.89  11.41  11.91   1.54  13.13  11.19  13.46  11.72 
+     4  11.34  11.51  11.26  11.26   1.46  19.94  11.57  14.68 
+     5  14.65  11.84  15.89  14.58  12.01   1.45  11.48  11.86 
+     6  13.53  11.86  13.59  16.35  12.84  13.15   1.38  13.52 
+     7  11.69  13.80  16.86  19.84  20.01  11.31  19.92   1.33 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.70   7.94   7.67   7.19   8.01   7.78   7.87   7.81 
+     1   7.99   2.55   7.68   7.06   7.95   7.84   7.81   7.72 
+     2   7.85   7.71   2.56   7.19   8.03   7.89   7.84   7.81 
+     3   7.20   7.16   7.29   2.25   7.50   7.33   7.36   7.30 
+     4   7.69   7.72   7.87   7.21   2.53   7.90   7.88   7.88 
+     5  11.45   9.03   9.04   7.93   9.79   2.82   9.63   9.83 
+     6   9.46   9.07   9.02   7.91   9.98   9.62   3.05   9.65 
+     7   9.65   8.99   8.95   7.09   8.05   8.02   7.95   2.57 
+2026-10-31T15:02:25Z [26,855ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 0.9 GB/s.
+2026-10-31T15:02:25Z [26,855ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.0 us.
+2026-10-31T15:02:25Z [26,855ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-31T15:02:28Z [29,756ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,757ms] [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)
+2026-10-31T15:02:28Z [29,870ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,871ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [29,890ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [29,891ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,076ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,076ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,084ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,084ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:28Z [30,089ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-31T15:02:28Z [30,089ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-31T15:02:30Z [31,402ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-31T15:02:33Z [34,420ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-31T15:02:45Z [46,930ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-31T15:02:47Z [48,497ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-31T15:03:03Z [64,351ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-10-31T15:03:03Z [64,355ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-31T15:03:03Z [65,048ms] [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.
+2026-10-31T15:03:09Z [70,402ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,402ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,404ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:09Z [70,429ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-31T15:03:09Z [70,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-31T15:03:09Z [70,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 3 task(s): ['TakeSpatulaOffShelfTask', 'ClampInRightBinTask', 'FoodPacking1CansTask']
+2026-10-31T15:03:25Z [86,713ms] [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@ <0x558271a9f2f0>)
+
+2026-10-31T15:03:25Z [86,714ms] [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@ <0x558271a9f2f0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: TakeSpatulaOffShelfTask, ClampInRightBinTask, FoodPacking1CansTask
+  Environments   : TakeSpatulaOffShelfTask, ClampInRightBinTask, FoodPacking1CansTask
+  Num Tasks      : 3
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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
+2026-10-31T15:03:29Z [91,073ms] [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 : 0.624780 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...
+2026-10-31T15:03:38Z [99,875ms] [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.
+2026-10-31T15:03:38Z [99,876ms] [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.
+2026-10-31T15:03:38Z [99,954ms] [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.
+2026-10-31T15:03:38Z [99,954ms] [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.
+2026-10-31T15:03:38Z [99,962ms] [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.
+2026-10-31T15:03:38Z [99,969ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T15:03:39Z [100,171ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:39Z [100,209ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-31T15:03:46Z [107,931ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:03:46Z [107,932ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,397ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-10-31T15:03:54Z [115,398ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,924ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,925ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-31T15:03:55Z [116,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,185ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,185ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:03:56Z [117,185ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,688ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,688ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,688ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,934ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,934ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:03:57Z [118,935ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,177ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,178ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,178ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:04:00Z [121,845ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-31T15:04:01Z [122,208ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,209ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,209ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,213ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,213ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((194))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,214ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,214ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,214ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,216ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,216ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((205))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,216ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,216ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,217ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((206))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-10-31T15:04:01Z [122,219ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 30.628354 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/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: 473, duration: 31.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.6000243885690395, 'joint_sparc_mean': -9.292010067594035, 'ee_isj': 1002.4811245647435, 'joint_isj': 139258.0647510343, 'ee_path_length': 2.4859632801964704, 'joint_rmse_mean': 1.0638780839499415, 'ee_speed_max': 0.3720892071723938, 'ee_speed_mean': 0.07444950193166733}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 2728.339, 'policy_inference_avg_ms': 5768.2, 'env_step_s': 151.41, 'env_step_avg_ms': 320.1, 'video_write_s': 4.157, 'video_write_avg_ms': 8.8, 'wall_total_s': 2883.905, 'it_per_sec': 0.16}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: df274e3397bc4ee3b7d66a413178b6b1-0
+[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_plan/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': -7.813512190279667, 'joint_sparc_mean': -8.138057477277728, 'ee_isj': 1674.738208976045, 'joint_isj': 99994.04376735237, 'ee_path_length': 3.009678091601932, 'joint_rmse_mean': 1.2089893295341814, 'ee_speed_max': 0.49629589915275574, 'ee_speed_mean': 0.04567314311861992}, events: {'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['fork_big']}, instruction_type: default, timing: {'policy_inference_s': 1719.116, 'policy_inference_avg_ms': 1910.1, 'env_step_s': 278.516, 'env_step_avg_ms': 309.5, 'video_write_s': 6.473, 'video_write_avg_ms': 7.2, 'wall_total_s': 2004.105, 'it_per_sec': 0.45}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: 68898bf2d9264b79ba2efd2e03682533-1
+[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_plan/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: 222, duration: 14.799999999999999, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.220738437705409, 'joint_sparc_mean': -10.40599205179481, 'ee_isj': 1082.5108052054861, 'joint_isj': 65005.210514856444, 'ee_path_length': 1.9218936290241118, 'joint_rmse_mean': 0.8865242221277537, 'ee_speed_max': 0.42776694893836975, 'ee_speed_mean': 0.12118731439113617}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 1212.041, 'policy_inference_avg_ms': 5459.6, 'env_step_s': 70.364, 'env_step_avg_ms': 317.0, 'video_write_s': 2.135, 'video_write_avg_ms': 9.6, 'wall_total_s': 1284.54, 'it_per_sec': 0.17}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: af69566c900f4f6b885237eba8487851-2
+[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
+2026-10-31T16:48:30Z [6,391,946ms] [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 : 0.208620 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...
+2026-10-31T16:48:39Z [6,400,907ms] [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.
+2026-10-31T16:48:39Z [6,400,908ms] [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.
+2026-10-31T16:48:39Z [6,400,917ms] [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.
+2026-10-31T16:48:39Z [6,400,917ms] [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.
+2026-10-31T16:48:39Z [6,400,925ms] [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.
+2026-10-31T16:48:39Z [6,400,938ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T16:48:39Z [6,400,957ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T16:48:41Z [6,402,532ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-31T16:48:41Z [6,402,533ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-31T16:48:41Z [6,402,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-31T16:48:41Z [6,402,847ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-31T16:48:41Z [6,402,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-10-31T16:48:41Z [6,402,856ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,549ms] [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((438))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,549ms] [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((438))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,578ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((454))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,578ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((454))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,684ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,685ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,734ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((485))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,734ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((485))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,759ms] [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((499))' not available in the MDL representation.
+2026-10-31T16:48:43Z [6,404,759ms] [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((499))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,347ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,347ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((374))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,348ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,348ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((379))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,348ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,348ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((380))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((421))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,354ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((481))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,354ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((485))' not available in the MDL representation.
+2026-10-31T16:48:44Z [6,405,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((485))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 13.310846 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_plan/gpu_7/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: 291, duration: 19.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.685084165378303, 'joint_sparc_mean': -11.969856470093907, 'ee_isj': 814.9863900681265, 'joint_isj': 10947.534334211749, 'ee_path_length': 1.7093713105153192, 'joint_rmse_mean': 0.8990558831081946, 'ee_speed_max': 0.3691157400608063, 'ee_speed_mean': 0.08490803092718124}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 4}, instruction_type: default, timing: {'policy_inference_s': 2743.694, 'policy_inference_avg_ms': 9428.5, 'env_step_s': 75.223, 'env_step_avg_ms': 258.5, 'video_write_s': 2.699, 'video_write_avg_ms': 9.3, 'wall_total_s': 2821.615, 'it_per_sec': 0.1}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 99ef2c1952e4429b8563af9802632757-0
+[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_plan/gpu_7/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': -11.063406075393146, 'joint_sparc_mean': -17.93812687909911, 'ee_isj': 4973.2434247184565, 'joint_isj': 395987.4935319665, 'ee_path_length': 5.78440164329928, 'joint_rmse_mean': 1.2168297513411432, 'ee_speed_max': 0.9968279004096985, 'ee_speed_mean': 0.09325556457042694}, events: {'GRIPPER_FULLY_CLOSED': 19, 'TARGET_OBJECT_DROPPED': 11}, instruction_type: default, timing: {'policy_inference_s': 3930.15, 'policy_inference_avg_ms': 4366.8, 'env_step_s': 228.319, 'env_step_avg_ms': 253.7, 'video_write_s': 6.929, 'video_write_avg_ms': 7.7, 'wall_total_s': 4165.397, 'it_per_sec': 0.22}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spring_clamp) (step 1/2), harness_episode_id: 09012bcc04a4488a837d41b847c41533-1
+[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_plan/gpu_7/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: 349, duration: 23.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.912750932139089, 'joint_sparc_mean': -11.027736266263926, 'ee_isj': 867.7019840645157, 'joint_isj': 44432.20199025225, 'ee_path_length': 2.1865619150444138, 'joint_rmse_mean': 1.0895844240380061, 'ee_speed_max': 0.28151553869247437, 'ee_speed_mean': 0.0911559984087944}, events: {'GRIPPER_FULLY_CLOSED': 5, 'TARGET_OBJECT_DROPPED': 10}, instruction_type: default, timing: {'policy_inference_s': 1350.671, 'policy_inference_avg_ms': 3870.1, 'env_step_s': 89.901, 'env_step_avg_ms': 257.6, 'video_write_s': 3.038, 'video_write_avg_ms': 8.7, 'wall_total_s': 1443.61, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b884c9c4a3764df58158301898cf4ee4-2
+[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
+2026-10-31T19:10:51Z [14,932,253ms] [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 : 0.191577 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...
+2026-10-31T19:10:54Z [14,936,007ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-31T19:10:54Z [14,936,106ms] [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.
+2026-10-31T19:10:54Z [14,936,106ms] [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.
+2026-10-31T19:10:54Z [14,936,114ms] [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.
+2026-10-31T19:10:54Z [14,936,115ms] [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.
+2026-10-31T19:10:54Z [14,936,122ms] [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.
+2026-10-31T19:10:54Z [14,936,128ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-31T19:10:55Z [14,937,023ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-10-31T19:10:55Z [14,937,023ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,485ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,493ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((701))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,493ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((701))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,585ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((733))' not available in the MDL representation.
+2026-10-31T19:10:56Z [14,937,586ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((733))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,324ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,324ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,327ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,327ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,328ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((701))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,328ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((701))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,330ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((733))' not available in the MDL representation.
+2026-10-31T19:10:57Z [14,938,330ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((733))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.988052 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 : 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_plan/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: True, episode_step: 330, duration: 22.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.720585398393062, 'joint_sparc_mean': -6.343448662805976, 'ee_isj': 1227.315689777259, 'joint_isj': 20883.09838171393, 'ee_path_length': 2.584450439491681, 'joint_rmse_mean': 1.0600223358123522, 'ee_speed_max': 0.49392879009246826, 'ee_speed_mean': 0.11075998842716217}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 1064.941, 'policy_inference_avg_ms': 3227.1, 'env_step_s': 74.393, 'env_step_avg_ms': 225.4, 'video_write_s': 3.076, 'video_write_avg_ms': 9.3, 'wall_total_s': 1142.41, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a0a8659a581b4616a75c35e733b8ce6c-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_plan/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: 196, duration: 13.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.949845918663362, 'joint_sparc_mean': -7.853658393982125, 'ee_isj': 591.0819443263429, 'joint_isj': 122331.78176450427, 'ee_path_length': 1.503820114889384, 'joint_rmse_mean': 0.9918861287814874, 'ee_speed_max': 0.4275154769420624, 'ee_speed_mean': 0.10837243497371674}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 507.72, 'policy_inference_avg_ms': 2590.4, 'env_step_s': 43.046, 'env_step_avg_ms': 219.6, 'video_write_s': 2.012, 'video_write_avg_ms': 10.3, 'wall_total_s': 552.777, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: bb78f19ec5bc40a9b751c900642cdd9c-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_plan/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': -12.362669254976156, 'joint_sparc_mean': -21.146891534727878, 'ee_isj': 4203.671991032534, 'joint_isj': 291638.05143045215, 'ee_path_length': 6.808526780075274, 'joint_rmse_mean': 1.0812921499390051, 'ee_speed_max': 0.7208107113838196, 'ee_speed_mean': 0.10667392611503601}, events: {'TARGET_OBJECT_DROPPED': 24, 'GRIPPER_FULLY_CLOSED': 13, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3}, instruction_type: default, timing: {'policy_inference_s': 2795.847, 'policy_inference_avg_ms': 3106.5, 'env_step_s': 198.57, 'env_step_avg_ms': 220.6, 'video_write_s': 6.772, 'video_write_avg_ms': 7.5, 'wall_total_s': 3001.189, 'it_per_sec': 0.3}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=tomato_soup_can) (step 1/2), harness_episode_id: 5e67bbb81b164e88b541580ad1999955-2
+------------------------------------------------------------------- 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 (3 tasks)         6/9      66.7%   [34.8-87.8]    0.667        0.000       20.68   -7.81    3.11       9.3         0.25 35.7       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+ClampInRightBinTask     2/3      66.7%   [19.4-93.2]    0.667        0.000       21.33   -9.22    3.23       9.0         0.19 46.8       
+FoodPacking1CansTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       17.53   -7.34    3.63       10.9        0.31 26.1       
+TakeSpatulaOffShelfTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       23.17   -6.88    2.47       8.0         0.26 34.3       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
diff --git a/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval.episodes.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/events.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/network_timing.jsonl b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/network_timing.jsonl
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+++ b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/network_timing.jsonl
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diff --git a/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/stderr.log b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/stderr.log
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index 0000000000000000000000000000000000000000..311d7a0a820b38ce487e746c196e81f55183aeb8
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+++ b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0001/stderr.log
@@ -0,0 +1 @@
+2026-10-31T15:05:01.090276Z ERROR codex_core::tools::router: error=exec_command failed: CreateProcess { message: "Rejected(\"Failed to create unified exec process: Argument list too long (os error 7)\")" }
diff --git a/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0002/events.jsonl b/harness_robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval/episode-0002/events.jsonl
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+++ b/harness_robolab_exploration/embo_plan/gpu_7/robolab/ClampInRightBinTask/env_cfg.json
@@ -0,0 +1 @@
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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_plan/gpu_7/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/ClampInRightBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf7e9b626040281397bf212e27a0b357ab4c06f6
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_7/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": 291, "events": [{"step": 89, "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": 90, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 90, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 98, "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=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "score": 0.0}, {"step": 146, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 146, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 147, "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": 148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 149, "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=spring_clamp). advanced 1 step(s) to step 1 for spring_clamp.", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 214, "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": 216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 217, "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": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 220, "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": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 244, "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": 259, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 291, "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_plan/gpu_7/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/ClampInRightBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b5531b08c0a2d6b32da24a33c0973f2a09e5bc
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_7/robolab/ClampInRightBinTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClampInRightBinTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 81, "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": 90, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=spring_clamp). regressing to step 0 for spring_clamp.", "score": 0.0}, {"step": 121, "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 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc048caf3193759baf22d46af10b0b776f0d234a
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/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": true, "final_step": 330, "events": [{"step": 53, "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": 55, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 55, "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": 68, "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": 71, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 71, "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": 73, "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": 114, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 114, "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": 170, "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": 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=tomato_soup_can). regressing to step 0 for tomato_soup_can.", "score": 0.0}, {"step": 217, "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": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 330, "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_plan/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6d55e9da970ab5dc9364fc91b417435c721c7aa
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/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": 196, "events": [{"step": 148, "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": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 196, "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_plan/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..06aa0158202acc1ae7017ea7d5434e0d5363660e
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_7/robolab/FoodPacking1CansTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "FoodPacking1CansTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 95, "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": 102, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 102, "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": 103, "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": 111, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": 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"instruction": "Take the spatula off the shelf and put it on the table", "contact_object_list": ["table", "wireshelving_a01", "spatula_01", "plate_small", "fork_big", "fork_small", "ceramic_mug", "mug", "mug_01"], "_instruction_variants": {"default": "Take the spatula off the shelf and put it on the table", "vague": "Take the spatula off the shelf", "specific": "Reach up and remove the spatula from the shelf, then place it flat on the table surface"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2192fe70be8b1af957f18c962a35964c1c11b07a
--- /dev/null
+++ b/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_plan/gpu_7/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
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+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_plan/gpu_7/harness/20261031T150155.798591Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_plan/gpu_7/harness/20261031T150155.798591Z_eval.episodes.jsonl
+INFO:root:Plan before execution: True
+INFO:root:Multi-action execution: False
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+INFO:root:Adaptive action chunk: False
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+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
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diff --git a/harness_robolab_exploration/embo_plan/progress.log b/harness_robolab_exploration/embo_plan/progress.log
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+[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 3 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 714.599s | Mean Wall 926.558s | Mean Tokens N/A (0/1 complete) | Mean Raw Harness 714.599s | Mean Raw Wall 926.558s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 771.753s | Mean Wall 925.595s | Mean Tokens 3,751,097.0 (1/2 complete) | Mean Raw Harness 771.753s | Mean Raw Wall 925.595s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 855.638s | Mean Wall 999.035s | Mean Tokens 4,278,391.0 (2/3 complete) | Mean Raw Harness 857.179s | Mean Raw Wall 1000.576s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 0/20 | Episodes 4/60 | Success 75.00% (3/4) | Mean Harness 996.512s | Mean Wall 1248.500s | Mean Tokens 4,278,391.0 (2/4 complete) | Mean Raw Harness 1113.537s | Mean Raw Wall 1365.524s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 0/20 | Episodes 5/60 | Success 80.00% (4/5) | Mean Harness 1199.388s | Mean Wall 1433.531s | Mean Tokens 4,278,391.0 (2/5 complete) | Mean Raw Harness 1435.162s | Mean Raw Wall 1669.306s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 0/20 | Episodes 6/60 | Success 83.33% (5/6) | Mean Harness 1321.839s | Mean Wall 1540.723s | Mean Tokens 4,278,391.0 (2/6 complete) | Mean Raw Harness 1614.717s | Mean Raw Wall 1833.601s
+[Batch] GPU 2 finished MarkerInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 7/60 | Success 85.71% (6/7) | Mean Harness 1576.596s | Mean Wall 1811.096s | Mean Tokens 4,278,391.0 (2/7 complete) | Mean Raw Harness 1952.049s | Mean Raw Wall 2186.549s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/0: SUCCESS | Tasks 0/20 | Episodes 8/60 | Success 87.50% (7/8) | Mean Harness 1827.737s | Mean Wall 2064.123s | Mean Tokens 4,278,391.0 (2/8 complete) | Mean Raw Harness 2284.473s | Mean Raw Wall 2520.859s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/1: FAILURE | Tasks 0/20 | Episodes 9/60 | Success 77.78% (7/9) | Mean Harness 1802.623s | Mean Wall 2045.756s | Mean Tokens 4,278,391.0 (2/9 complete) | Mean Raw Harness 2220.367s | Mean Raw Wall 2463.501s
+[Batch] GPU 6 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 1/20 | Episodes 10/60 | Success 80.00% (8/10) | Mean Harness 1736.725s | Mean Wall 1965.798s | Mean Tokens 4,524,046.0 (3/10 complete) | Mean Raw Harness 2151.257s | Mean Raw Wall 2380.330s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 1/20 | Episodes 11/60 | Success 81.82% (9/11) | Mean Harness 1839.098s | Mean Wall 2070.938s | Mean Tokens 4,524,046.0 (3/11 complete) | Mean Raw Harness 2313.675s | Mean Raw Wall 2545.515s
+[Batch] GPU 5 finished SpoonInMugTask/0: FAILURE | Tasks 1/20 | Episodes 12/60 | Success 75.00% (9/12) | Mean Harness 1985.364s | Mean Wall 2236.200s | Mean Tokens 4,524,046.0 (3/12 complete) | Mean Raw Harness 2533.660s | Mean Raw Wall 2784.496s
+[Batch] GPU 7 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 2/20 | Episodes 13/60 | Success 76.92% (10/13) | Mean Harness 1904.832s | Mean Wall 2142.191s | Mean Tokens 4,524,046.0 (3/13 complete) | Mean Raw Harness 2431.768s | Mean Raw Wall 2669.126s
+[Batch] GPU 2 finished MarkerInMugTask/1: SUCCESS | Tasks 2/20 | Episodes 14/60 | Success 78.57% (11/14) | Mean Harness 1859.196s | Mean Wall 2091.391s | Mean Tokens 4,524,046.0 (3/14 complete) | Mean Raw Harness 2384.749s | Mean Raw Wall 2616.944s
+[Batch] GPU 6 finished ReorientRedMugTask/0: SUCCESS | Tasks 2/20 | Episodes 15/60 | Success 80.00% (12/15) | Mean Harness 1799.536s | Mean Wall 2022.222s | Mean Tokens 4,524,046.0 (3/15 complete) | Mean Raw Harness 2294.608s | Mean Raw Wall 2517.294s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 2/20 | Episodes 16/60 | Success 81.25% (13/16) | Mean Harness 1909.661s | Mean Wall 2156.141s | Mean Tokens 4,524,046.0 (3/16 complete) | Mean Raw Harness 2479.392s | Mean Raw Wall 2725.872s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 3/20 | Episodes 17/60 | Success 82.35% (14/17) | Mean Harness 1859.062s | Mean Wall 2098.443s | Mean Tokens 4,054,574.8 (4/17 complete) | Mean Raw Harness 2429.011s | Mean Raw Wall 2668.392s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 3/20 | Episodes 18/60 | Success 77.78% (14/18) | Mean Harness 1950.479s | Mean Wall 2209.509s | Mean Tokens 4,054,574.8 (4/18 complete) | Mean Raw Harness 2600.394s | Mean Raw Wall 2859.424s
+[Batch] GPU 6 finished ReorientRedMugTask/1: SUCCESS | Tasks 3/20 | Episodes 19/60 | Success 78.95% (15/19) | Mean Harness 1907.731s | Mean Wall 2157.279s | Mean Tokens 4,054,574.8 (4/19 complete) | Mean Raw Harness 2598.259s | Mean Raw Wall 2847.806s
+[Batch] GPU 7 finished ClampInRightBinTask/0: SUCCESS | Tasks 3/20 | Episodes 20/60 | Success 80.00% (16/20) | Mean Harness 1876.275s | Mean Wall 2117.447s | Mean Tokens 4,054,574.8 (4/20 complete) | Mean Raw Harness 2605.333s | Mean Raw Wall 2846.506s
+[Batch] GPU 2 finished MarkerInMugTask/2: SUCCESS | Tasks 4/20 | Episodes 21/60 | Success 80.95% (17/21) | Mean Harness 1852.715s | Mean Wall 2089.232s | Mean Tokens 4,054,574.8 (4/21 complete) | Mean Raw Harness 2614.070s | Mean Raw Wall 2850.587s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/0: SUCCESS | Tasks 4/20 | Episodes 22/60 | Success 81.82% (18/22) | Mean Harness 1835.684s | Mean Wall 2065.800s | Mean Tokens 4,054,574.8 (4/22 complete) | Mean Raw Harness 2576.383s | Mean Raw Wall 2806.499s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 5/20 | Episodes 23/60 | Success 78.26% (18/23) | Mean Harness 1826.140s | Mean Wall 2071.441s | Mean Tokens 4,054,574.8 (4/23 complete) | Mean Raw Harness 2550.374s | Mean Raw Wall 2795.675s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 5/20 | Episodes 24/60 | Success 79.17% (19/24) | Mean Harness 1821.893s | Mean Wall 2062.002s | Mean Tokens 4,054,574.8 (4/24 complete) | Mean Raw Harness 2521.376s | Mean Raw Wall 2761.485s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 5/20 | Episodes 25/60 | Success 76.00% (19/25) | Mean Harness 1900.092s | Mean Wall 2142.509s | Mean Tokens 4,054,574.8 (4/25 complete) | Mean Raw Harness 2672.011s | Mean Raw Wall 2914.428s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 5/20 | Episodes 26/60 | Success 76.92% (20/26) | Mean Harness 1847.915s | Mean Wall 2083.176s | Mean Tokens 3,797,044.6 (5/26 complete) | Mean Raw Harness 2591.939s | Mean Raw Wall 2827.200s
+[Batch] GPU 6 finished ReorientRedMugTask/2: SUCCESS | Tasks 6/20 | Episodes 27/60 | Success 77.78% (21/27) | Mean Harness 1867.804s | Mean Wall 2100.068s | Mean Tokens 3,797,044.6 (5/27 complete) | Mean Raw Harness 2602.161s | Mean Raw Wall 2834.425s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 6/20 | Episodes 28/60 | Success 78.57% (22/28) | Mean Harness 1831.887s | Mean Wall 2058.615s | Mean Tokens 3,857,284.7 (6/28 complete) | Mean Raw Harness 2540.017s | Mean Raw Wall 2766.745s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 7/20 | Episodes 29/60 | Success 79.31% (23/29) | Mean Harness 1927.137s | Mean Wall 2158.323s | Mean Tokens 3,857,284.7 (6/29 complete) | Mean Raw Harness 2688.190s | Mean Raw Wall 2919.375s
+[Batch] GPU 7 finished ClampInRightBinTask/1: FAILURE | Tasks 7/20 | Episodes 30/60 | Success 76.67% (23/30) | Mean Harness 1976.759s | Mean Wall 2208.513s | Mean Tokens 3,857,284.7 (6/30 complete) | Mean Raw Harness 2729.176s | Mean Raw Wall 2960.929s
+[Batch] GPU 6 finished MustardInLeftBinTask/0: FAILURE | Tasks 7/20 | Episodes 31/60 | Success 74.19% (23/31) | Mean Harness 1958.404s | Mean Wall 2185.966s | Mean Tokens 3,857,284.7 (6/31 complete) | Mean Raw Harness 2688.029s | Mean Raw Wall 2915.591s
+[Batch] GPU 5 finished SpoonInMugTask/1: FAILURE | Tasks 7/20 | Episodes 32/60 | Success 71.88% (23/32) | Mean Harness 2054.197s | Mean Wall 2289.125s | Mean Tokens 3,857,284.7 (6/32 complete) | Mean Raw Harness 2852.072s | Mean Raw Wall 3086.999s
+[Batch] GPU 7 finished ClampInRightBinTask/2: SUCCESS | Tasks 8/20 | Episodes 33/60 | Success 72.73% (24/33) | Mean Harness 2030.530s | Mean Wall 2261.302s | Mean Tokens 3,857,284.7 (6/33 complete) | Mean Raw Harness 2806.434s | Mean Raw Wall 3037.206s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/1: FAILURE | Tasks 8/20 | Episodes 34/60 | Success 70.59% (24/34) | Mean Harness 2041.759s | Mean Wall 2273.184s | Mean Tokens 4,889,022.1 (7/34 complete) | Mean Raw Harness 2802.639s | Mean Raw Wall 3034.064s
+[Batch] GPU 2 finished BananaThenRubiksCubeTask/2: FAILURE | Tasks 9/20 | Episodes 35/60 | Success 68.57% (24/35) | Mean Harness 2046.322s | Mean Wall 2276.883s | Mean Tokens 4,889,022.1 (7/35 complete) | Mean Raw Harness 2792.009s | Mean Raw Wall 3022.570s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/1: FAILURE | Tasks 9/20 | Episodes 36/60 | Success 66.67% (24/36) | Mean Harness 2092.987s | Mean Wall 2323.331s | Mean Tokens 4,889,022.1 (7/36 complete) | Mean Raw Harness 2846.612s | Mean Raw Wall 3076.955s
+[Batch] GPU 6 finished MustardInLeftBinTask/1: FAILURE | Tasks 9/20 | Episodes 37/60 | Success 64.86% (24/37) | Mean Harness 2083.922s | Mean Wall 2310.756s | Mean Tokens 4,889,022.1 (7/37 complete) | Mean Raw Harness 2820.827s | Mean Raw Wall 3047.662s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 10/20 | Episodes 38/60 | Success 63.16% (24/38) | Mean Harness 2130.625s | Mean Wall 2359.197s | Mean Tokens 4,889,022.1 (7/38 complete) | Mean Raw Harness 2853.167s | Mean Raw Wall 3081.739s
+[Batch] GPU 7 finished FoodPacking1CansTask/0: SUCCESS | Tasks 10/20 | Episodes 39/60 | Success 64.10% (25/39) | Mean Harness 2102.123s | Mean Wall 2326.934s | Mean Tokens 4,889,022.1 (7/39 complete) | Mean Raw Harness 2807.206s | Mean Raw Wall 3032.017s
+[Batch] GPU 1 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 11/20 | Episodes 40/60 | Success 65.00% (26/40) | Mean Harness 2079.281s | Mean Wall 2301.640s | Mean Tokens 4,889,022.1 (7/40 complete) | Mean Raw Harness 2768.355s | Mean Raw Wall 2990.714s
+[Batch] GPU 3 finished FoodPacking1BoxesTask/2: SUCCESS | Tasks 12/20 | Episodes 41/60 | Success 65.85% (27/41) | Mean Harness 2043.717s | Mean Wall 2262.261s | Mean Tokens 4,642,196.2 (8/41 complete) | Mean Raw Harness 2716.066s | Mean Raw Wall 2934.611s
+[Batch] GPU 7 finished FoodPacking1CansTask/1: SUCCESS | Tasks 12/20 | Episodes 42/60 | Success 66.67% (28/42) | Mean Harness 2007.084s | Mean Wall 2221.562s | Mean Tokens 4,642,196.2 (8/42 complete) | Mean Raw Harness 2663.426s | Mean Raw Wall 2877.903s
+[Batch] GPU 3 finished BananaInBowlTask/0: SUCCESS | Tasks 12/20 | Episodes 43/60 | Success 67.44% (29/43) | Mean Harness 1975.291s | Mean Wall 2185.737s | Mean Tokens 4,463,636.1 (9/43 complete) | Mean Raw Harness 2618.565s | Mean Raw Wall 2829.010s
+[Batch] GPU 6 finished MustardInLeftBinTask/2: FAILURE | Tasks 13/20 | Episodes 44/60 | Success 65.91% (29/44) | Mean Harness 1960.857s | Mean Wall 2168.791s | Mean Tokens 4,463,636.1 (9/44 complete) | Mean Raw Harness 2590.689s | Mean Raw Wall 2798.623s
+[Batch] GPU 4 finished RedItemsInBinTask/0: SUCCESS | Tasks 13/20 | Episodes 45/60 | Success 66.67% (30/45) | Mean Harness 1953.424s | Mean Wall 2160.363s | Mean Tokens 4,752,662.0 (10/45 complete) | Mean Raw Harness 2571.618s | Mean Raw Wall 2778.557s
+[Batch] GPU 3 finished BananaInBowlTask/1: SUCCESS | Tasks 13/20 | Episodes 46/60 | Success 67.39% (31/46) | Mean Harness 1929.321s | Mean Wall 2133.008s | Mean Tokens 4,752,662.0 (10/46 complete) | Mean Raw Harness 2534.693s | Mean Raw Wall 2738.380s
+[Batch] GPU 3 finished BananaInBowlTask/2: SUCCESS | Tasks 14/20 | Episodes 47/60 | Success 68.09% (32/47) | Mean Harness 1904.399s | Mean Wall 2105.025s | Mean Tokens 4,752,662.0 (10/47 complete) | Mean Raw Harness 2496.891s | Mean Raw Wall 2697.516s
+[Batch] GPU 5 finished SpoonInMugTask/2: FAILURE | Tasks 15/20 | Episodes 48/60 | Success 66.67% (32/48) | Mean Harness 1956.256s | Mean Wall 2162.254s | Mean Tokens 4,752,662.0 (10/48 complete) | Mean Raw Harness 2547.535s | Mean Raw Wall 2753.532s
+[Batch] GPU 7 finished FoodPacking1CansTask/2: FAILURE | Tasks 16/20 | Episodes 49/60 | Success 65.31% (32/49) | Mean Harness 1972.702s | Mean Wall 2178.941s | Mean Tokens 4,752,662.0 (10/49 complete) | Mean Raw Harness 2552.359s | Mean Raw Wall 2758.598s
+[Batch] GPU 4 finished RedItemsInBinTask/1: SUCCESS | Tasks 16/20 | Episodes 50/60 | Success 66.00% (33/50) | Mean Harness 1968.113s | Mean Wall 2174.002s | Mean Tokens 4,752,662.0 (10/50 complete) | Mean Raw Harness 2536.177s | Mean Raw Wall 2742.066s
+[Batch] GPU 4 finished RedItemsInBinTask/2: SUCCESS | Tasks 17/20 | Episodes 51/60 | Success 66.67% (34/51) | Mean Harness 1953.672s | Mean Wall 2158.403s | Mean Tokens 4,752,662.0 (10/51 complete) | Mean Raw Harness 2510.740s | Mean Raw Wall 2715.471s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/0: FAILURE | Tasks 17/20 | Episodes 52/60 | Success 65.38% (34/52) | Mean Harness 1957.375s | Mean Wall 2163.812s | Mean Tokens 5,433,548.5 (11/52 complete) | Mean Raw Harness 2505.950s | Mean Raw Wall 2712.386s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: FAILURE | Tasks 17/20 | Episodes 53/60 | Success 64.15% (34/53) | Mean Harness 1936.308s | Mean Wall 2140.145s | Mean Tokens 5,291,991.6 (12/53 complete) | Mean Raw Harness 2474.532s | Mean Raw Wall 2678.369s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 17/20 | Episodes 54/60 | Success 64.81% (35/54) | Mean Harness 1917.862s | Mean Wall 2119.093s | Mean Tokens 5,210,244.3 (13/54 complete) | Mean Raw Harness 2446.119s | Mean Raw Wall 2647.350s
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: FAILURE | Tasks 18/20 | Episodes 55/60 | Success 63.64% (35/55) | Mean Harness 1899.663s | Mean Wall 2098.472s | Mean Tokens 5,070,797.8 (14/55 complete) | Mean Raw Harness 2418.316s | Mean Raw Wall 2617.125s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/1: FAILURE | Tasks 18/20 | Episodes 56/60 | Success 62.50% (35/56) | Mean Harness 1900.170s | Mean Wall 2100.747s | Mean Tokens 5,299,681.7 (15/56 complete) | Mean Raw Harness 2410.708s | Mean Raw Wall 2611.285s
+[Batch] GPU 5 finished OneBottleInSquarePailTask/2: FAILURE | Tasks 19/20 | Episodes 57/60 | Success 61.40% (35/57) | Mean Harness 1912.466s | Mean Wall 2114.593s | Mean Tokens 5,299,681.7 (15/57 complete) | Mean Raw Harness 2414.048s | Mean Raw Wall 2616.175s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 62.07% (36/58) | Mean Harness 1895.543s | Mean Wall 2095.477s | Mean Tokens 5,256,652.6 (16/58 complete) | Mean Raw Harness 2388.476s | Mean Raw Wall 2588.411s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 62.71% (37/59) | Mean Harness 1879.874s | Mean Wall 2077.962s | Mean Tokens 5,254,816.1 (17/59 complete) | Mean Raw Harness 2364.452s | Mean Raw Wall 2562.541s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/2: FAILURE | Tasks 20/20 | Episodes 60/60 | Success 61.67% (37/60) | Mean Harness 1885.289s | Mean Wall 2083.466s | Mean Tokens 5,656,720.8 (18/60 complete) | Mean Raw Harness 2362.805s | Mean Raw Wall 2560.982s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 61.67% (37/60) | Mean Harness 1885.289s | Mean Wall 2083.466s | Mean Tokens 5,656,720.8 (18/60 complete) | Mean Raw Harness 2362.805s | Mean Raw Wall 2560.982s
diff --git a/harness_robolab_exploration/embo_refine_vla/assignments.tsv b/harness_robolab_exploration/embo_refine_vla/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..d2c2c29363683628fae7f08527945adf8e91222b
--- /dev/null
+++ b/harness_robolab_exploration/embo_refine_vla/assignments.tsv
@@ -0,0 +1,3 @@
+gpu	port	estimated_seconds	tasks
+1	8000	27248.771	PlasticBottlesInSquarePailTask ReorientWhiteMugsTask BlockStackingSpecifiedOrderTask ClampInRightBinTask OneBottleInSquarePailTask RedItemsInBinTask BananaThenRubiksCubeTask MustardInLeftBinTask BowlStackingRightOnLeftTask
+3	8001	28303.335	FruitsOnionToPlateTask MarkerInMugTask SmallPumpkinInBinTask SpoonInMugTask TakeSpatulaOffShelfTask ReorientRedMugTask FoodPacking1BoxesTask BananasInBinThreeTotalTask RubiksCubeThenBananaTask FoodPacking1CansTask BananaInBowlTask
diff --git a/harness_robolab_exploration/embo_refine_vla/batch_manifest.json b/harness_robolab_exploration/embo_refine_vla/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7fa772c208b23b962e3faa0f48d7f9ad6992488
--- /dev/null
+++ b/harness_robolab_exploration/embo_refine_vla/batch_manifest.json
@@ -0,0 +1,45 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        1,
+        3
+      ],
+      "path": "."
+    },
+    {
+      "gpus": [
+        1,
+        3,
+        5,
+        7
+      ],
+      "path": "resume_batches/000001"
+    }
+  ],
+  "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_refine_vla/gpu_1/client.log b/harness_robolab_exploration/embo_refine_vla/gpu_1/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..90298a32e8906d04f56157bbed97f50b9a466d62
--- /dev/null
+++ b/harness_robolab_exploration/embo_refine_vla/gpu_1/client.log
@@ -0,0 +1,6031 @@
+[2026-11-04T14:20:43Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_142255.log
+2026-11-04T14:22:55Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
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+2026-11-04T14:22:56Z [119ms] [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'
+2026-11-04T14:22:56Z [154ms] [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'
+2026-11-04T14:22:56Z [159ms] [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'
+2026-11-04T14:23:01Z [5,628ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:01Z [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)
+2026-11-04T14:23:01Z [5,743ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T14:23:03Z [7,541ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:03Z [7,543ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:03Z [7,544ms] [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          | Yes: 0 |     | 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          |        |     | 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: 870941
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T14:23:07Z [11,535ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T14:23:07Z [11,535ms] [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 
+     0 894.65   4.20   4.38   5.55   4.01   5.48   5.94   5.48 
+     1   3.99 905.27   5.37   6.94   4.00   4.27   5.17  15.75 
+     2   8.28   3.67 899.02   5.75   4.21   4.66   6.59  12.66 
+     3   4.92   5.18   7.56 902.14   3.86   4.66   5.95  15.90 
+     4   7.77   6.48   6.47   6.44 907.13   8.54   5.85   8.54 
+     5   6.44   7.79   7.26   7.22   6.53 877.81   6.53  12.84 
+     6   8.30   8.55   7.70   8.70   8.65   6.74 907.38  12.01 
+     7   8.70   8.71   8.71   8.71   7.38  11.93  13.26 922.27 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  17.25  16.08  17.33  13.86  12.85  13.38  15.62 
+     1  16.76   1.33  15.70  17.93  13.41  12.21  13.70  15.46 
+     2  20.43  20.01   1.34  16.57  14.57  13.09  14.30  15.63 
+     3  18.87  18.54  18.57   1.34  12.65  16.86  17.05  18.28 
+     4  22.29  18.51  17.23  20.80   1.39  20.31  19.32  17.12 
+     5  19.52  19.87  16.47  19.62  19.02   1.39  20.66  19.55 
+     6  19.29  17.15  17.79  22.11  16.71  20.42   1.42  16.05 
+     7  22.43  23.46  16.17  17.37  19.48  19.32  15.60   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.23   9.97  10.09  10.32   8.47   8.50   8.22   7.89 
+     1  10.37   2.78  10.03  10.03   8.07   8.07   7.87   7.56 
+     2  10.33  10.03   2.93   9.72   8.60   8.36   7.86   8.36 
+     3   9.77  10.04   9.77   2.96   8.18   7.92   8.05   7.86 
+     4   7.79   7.55   7.82   7.54   2.26   6.80   6.77   6.71 
+     5   7.59   7.44   7.56   7.34   6.78   2.27   6.61   6.43 
+     6   7.60   7.61   7.78   7.41   6.78   6.85   2.39   6.50 
+     7   7.66   7.33   7.70   7.31   6.74   6.51   6.52   2.34 
+2026-11-04T14:23:15Z [19,179ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.7 GB/s.
+2026-11-04T14:23:15Z [19,179ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 23.5 us.
+2026-11-04T14:23:15Z [19,179ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T14:23:17Z [22,013ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:17Z [22,013ms] [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)
+2026-11-04T14:23:18Z [22,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:18Z [22,065ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:18Z [22,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:18Z [22,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:18Z [22,204ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:18Z [22,204ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:18Z [22,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:18Z [22,210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:18Z [22,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T14:23:18Z [22,216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T14:23:19Z [23,727ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T14:23:23Z [27,574ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T14:23:35Z [39,522ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T14:23:36Z [41,022ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T14:23:51Z [55,342ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T14:23:51Z [55,344ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T14:23:51Z [55,940ms] [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.
+2026-11-04T14:23:55Z [59,539ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T14:23:55Z [59,540ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T14:23:55Z [59,542ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T14:23:55Z [59,568ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T14:23:55Z [59,585ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T14:23:55Z [59,585ms] [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']
+2026-11-04T14:24:10Z [74,702ms] [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@ <0x5603ca815830>)
+
+2026-11-04T14:24:10Z [74,703ms] [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@ <0x5603ca815830>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/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
+2026-11-04T14:24:14Z [78,878ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.534221 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...
+2026-11-04T14:24:20Z [84,869ms] [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.
+2026-11-04T14:24:20Z [84,870ms] [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.
+2026-11-04T14:24:20Z [84,948ms] [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.
+2026-11-04T14:24:20Z [84,948ms] [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.
+2026-11-04T14:24:20Z [84,958ms] [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.
+2026-11-04T14:24:20Z [84,967ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T14:24:21Z [85,163ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T14:24:21Z [85,190ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T14:24:21Z [85,382ms] [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((12))' not available in the MDL representation.
+2026-11-04T14:24:21Z [85,382ms] [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((12))' not available in the MDL representation.
+2026-11-04T14:24:22Z [86,173ms] [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((14))' not available in the MDL representation.
+2026-11-04T14:24:22Z [86,173ms] [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((14))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,255ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,256ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((49))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,281ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,281ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,321ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T14:24:25Z [89,321ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T14:24:25Z [90,000ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T14:24:25Z [90,000ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,846ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,846ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,858ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,858ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,869ms] [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((118))' not available in the MDL representation.
+2026-11-04T14:24:26Z [90,869ms] [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((118))' not available in the MDL representation.
+2026-11-04T14:24:27Z [91,719ms] [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((140))' not available in the MDL representation.
+2026-11-04T14:24:27Z [91,719ms] [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((140))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,198ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,214ms] [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((150))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,214ms] [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((150))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,229ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,535ms] [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((189))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,535ms] [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((189))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,546ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,546ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,628ms] [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((226))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,628ms] [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((226))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,637ms] [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((231))' not available in the MDL representation.
+2026-11-04T14:24:28Z [92,637ms] [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((231))' not available in the MDL representation.
+2026-11-04T14:24:30Z [94,809ms] [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((261))' not available in the MDL representation.
+2026-11-04T14:24:30Z [94,809ms] [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((261))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,351ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T14:24:31Z [95,687ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,687ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,693ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,693ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,694ms] [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((150))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,694ms] [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((150))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,695ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,695ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((154))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((192))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,701ms] [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((226))' not available in the MDL representation.
+2026-11-04T14:24:31Z [95,701ms] [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((226))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.355448 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_refine_vla/gpu_1/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: True, episode_step: 664, duration: 44.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.434309421739668, 'joint_sparc_mean': -8.631708583041982, 'ee_isj': 725.9305161335777, 'joint_isj': 8951.417179795584, 'ee_path_length': 3.2497539705418377, 'joint_rmse_mean': 1.2442304729257718, 'ee_speed_max': 0.45465078949928284, 'ee_speed_mean': 0.06766991317272186}, events: {'TARGET_OBJECT_DROPPED': 11, 'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 1642.071, 'policy_inference_avg_ms': 2473.0, 'env_step_s': 215.087, 'env_step_avg_ms': 323.9, 'video_write_s': 5.911, 'video_write_avg_ms': 8.9, 'wall_total_s': 1863.069, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 82173f02bd1c4c98a1f1c117985779fc-0
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+2026-11-04T16:07:42Z [6,286,191ms] [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.
+[2026-11-04T16:07:46Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T16:08:16Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_160929.log
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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'
+2026-11-04T16:09:29Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T16:09:33Z [3,732ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:33Z [3,733ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:33Z [3,821ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T16:09:33Z [4,398ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:33Z [4,398ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:33Z [4,399ms] [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          | Yes: 0 |     | 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          |        |     | 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: 845410
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T16:09:35Z [6,322ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T16:09:35Z [6,322ms] [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 
+     0 909.65  16.67  18.28  16.71  18.41  18.80  19.34  17.80 
+     1  19.19 919.66  18.36  19.29  19.73  19.08  20.12  19.58 
+     2  18.49  18.28 919.12  17.61  19.30  19.12  19.45  18.17 
+     3  17.00  18.84  18.37 919.66  18.94  19.03  19.30  18.62 
+     4  22.12  21.86  21.94  22.30 921.10  22.03  22.39  22.37 
+     5  19.59  22.14  20.28  20.28  22.34 920.20  22.00  22.30 
+     6  20.22  22.18  20.95  22.39  22.25  21.56 920.13  22.38 
+     7  19.84  22.17  21.01  22.26  22.56  21.68  22.32 919.66 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  13.96  16.58  11.81  15.40  14.80  13.94  14.54 
+     1  12.00   1.47  11.75  11.55  13.10  13.87  12.27  13.53 
+     2  11.82  14.11   1.45  11.66  13.01  16.54  15.35  16.42 
+     3  25.52  11.67  20.17   1.33  14.56  15.55  12.45  13.31 
+     4  14.95  15.82  15.17  13.65   1.39  14.97  10.28  10.45 
+     5  15.24  15.53  13.55  14.72  12.75   1.39  13.24  10.43 
+     6  14.56  14.34  13.87  14.81  14.12  13.05   1.42  13.05 
+     7  12.58  15.93  12.44  15.87  12.38  11.29  16.05   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.08  10.04  10.58   9.88   8.08   7.94   7.94   7.96 
+     1  10.21   3.11   9.76   9.49   7.91   7.83   7.81   7.70 
+     2   9.83   9.66   3.05   9.73   8.03   8.11   8.05   8.17 
+     3   9.67   9.58   9.62   2.83   7.95   7.88   7.75   7.76 
+     4   8.61   9.06   8.78   8.93   2.32   6.82   7.08   6.76 
+     5   8.81   8.37   8.37   8.50   6.84   2.40   6.82   6.60 
+     6   8.42   8.18   8.34   8.30   6.57   6.77   2.24   6.66 
+     7   8.46   8.23   8.41   8.26   6.67   6.70   6.50   2.25 
+2026-11-04T16:09:38Z [8,984ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-04T16:09:38Z [8,984ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 25.5 us.
+2026-11-04T16:09:38Z [8,984ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T16:09:41Z [12,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:41Z [12,245ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:41Z [12,345ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:41Z [12,346ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:41Z [12,356ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:41Z [12,356ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:42Z [12,549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:42Z [12,549ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:42Z [12,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:42Z [12,554ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:42Z [12,560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T16:09:42Z [12,560ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T16:09:43Z [13,478ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T16:09:46Z [16,751ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T16:09:57Z [27,547ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T16:09:58Z [28,717ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T16:10:11Z [42,066ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T16:10:11Z [42,068ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T16:10:12Z [42,541ms] [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.
+2026-11-04T16:10:15Z [45,571ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T16:10:15Z [45,572ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T16:10:15Z [45,574ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T16:10:15Z [45,592ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T16:10:15Z [45,605ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T16:10:15Z [45,605ms] [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']
+2026-11-04T16:10:29Z [60,124ms] [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@ <0x55a91fb8b830>)
+
+2026-11-04T16:10:29Z [60,125ms] [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@ <0x55a91fb8b830>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T16:10:33Z [64,051ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.460687 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...
+2026-11-04T16:10:39Z [69,654ms] [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.
+2026-11-04T16:10:39Z [69,655ms] [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.
+2026-11-04T16:10:39Z [69,732ms] [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.
+2026-11-04T16:10:39Z [69,733ms] [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.
+2026-11-04T16:10:39Z [69,741ms] [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.
+2026-11-04T16:10:39Z [69,748ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T16:10:39Z [69,941ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T16:10:39Z [69,964ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T16:10:40Z [70,958ms] [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((14))' not available in the MDL representation.
+2026-11-04T16:10:40Z [70,958ms] [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((14))' not available in the MDL representation.
+2026-11-04T16:10:44Z [74,706ms] [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((35))' not available in the MDL representation.
+2026-11-04T16:10:44Z [74,707ms] [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((35))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,693ms] [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((56))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,693ms] [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((56))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((58))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,697ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((58))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,710ms] [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((65))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,710ms] [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((65))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,744ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,744ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,748ms] [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((80))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,748ms] [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((80))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,776ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,777ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,797ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,797ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T16:10:45Z [75,856ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T16:10:46Z [77,414ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-04T16:10:46Z [77,414ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-04T16:10:46Z [77,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-04T16:10:46Z [77,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-04T16:10:47Z [77,707ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T16:10:47Z [77,707ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,003ms] [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((178))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,003ms] [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((178))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,040ms] [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((186))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,040ms] [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((186))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,164ms] [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((199))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,164ms] [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((199))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,182ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,182ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,232ms] [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((227))' not available in the MDL representation.
+2026-11-04T16:10:48Z [79,232ms] [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((227))' not available in the MDL representation.
+2026-11-04T16:10:49Z [80,238ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T16:10:50Z [80,524ms] [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((14))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,525ms] [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((14))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,527ms] [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((35))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,527ms] [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((35))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,530ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,530ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,533ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,533ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,535ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,536ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,540ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation.
+2026-11-04T16:10:50Z [80,540ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((204))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.115457 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+
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+2026-11-04T17:22:51Z [4,401,669ms] [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.
+[2026-11-04T17:22:55Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-04T17:23:55Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_172505.log
+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T17:25:05Z [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'
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+2026-11-04T17:25:05Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
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+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-04T17:25:05Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T17:25:05Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T17:25:05Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T17:25:05Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T17:25:05Z [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'
+2026-11-04T17:25:05Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T17:25:09Z [3,912ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:09Z [3,913ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:09Z [3,998ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T17:25:10Z [4,605ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:10Z [4,605ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:10Z [4,606ms] [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          | Yes: 0 |     | 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          |        |     | 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: 842235
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T17:25:12Z [6,348ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T17:25:12Z [6,348ms] [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 
+     0 910.25  17.56  18.27  16.24  19.09  18.53  18.88  18.78 
+     1  19.19 919.66  18.49  19.26  19.90  19.14  19.64  19.85 
+     2  17.77  18.61 919.66  17.54  19.43  19.34  18.70  19.36 
+     3  17.30  18.73  19.35 920.74  19.74  19.60  18.99  19.72 
+     4  21.77  22.19  22.31  21.98 922.68  22.29  22.34  22.52 
+     5  20.01  22.39  21.74  22.20  22.03 921.46  21.92  21.95 
+     6  19.94  22.20  20.81  22.26  22.33  22.23 926.75  21.87 
+     7  19.60  22.42  20.55  22.42  20.63  21.77  22.04 919.27 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  12.52  12.15  11.91  13.31  12.40  14.35  11.77 
+     1  11.66   1.38  11.52  11.51  14.11  11.78  11.48  11.56 
+     2  12.12  12.79   1.44  13.20  12.50  13.41  12.37  12.46 
+     3  15.98  11.60  12.07   1.41  11.35  12.90  11.78  11.54 
+     4  17.63  13.27  14.97  15.90   1.39  14.79  11.35  13.12 
+     5  11.59  20.51  11.86  11.57  20.54   1.38  11.46  11.51 
+     6  11.94  17.84  14.83  11.73  11.31  20.53   1.43  21.74 
+     7  14.96  14.33  16.03  12.85  16.75  14.94  13.85   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.72  11.60   9.71   9.99  11.48  11.21  12.95  10.63 
+     1   9.32   3.03   9.19   9.22  10.78  10.55  10.46  10.38 
+     2   9.18   9.07   3.18   8.95  10.84  10.60  10.91  10.46 
+     3   9.18   8.91   8.92   3.32  10.79  10.60  10.49  10.48 
+     4  10.36  10.38  10.35  10.03   3.69  11.86  11.70  18.44 
+     5  10.14   9.81   9.95   9.87  11.93   3.76  11.60  11.56 
+     6  10.13   9.95   9.93   9.99  13.94  12.19   3.70  12.69 
+     7  10.03  10.00  10.13  10.13  12.05  11.81  12.11   3.52 
+2026-11-04T17:25:14Z [9,004ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.2 GB/s.
+2026-11-04T17:25:14Z [9,005ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 21.7 us.
+2026-11-04T17:25:14Z [9,005ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T17:25:18Z [12,290ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,290ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:18Z [12,393ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,393ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:18Z [12,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,401ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:18Z [12,588ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,588ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:18Z [12,593ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,593ms] [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)
+2026-11-04T17:25:18Z [12,599ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T17:25:18Z [12,599ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T17:25:19Z [13,536ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T17:25:22Z [16,961ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T17:25:33Z [27,322ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T17:25:34Z [28,436ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T17:25:48Z [42,564ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T17:25:48Z [42,567ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T17:25:48Z [43,057ms] [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.
+2026-11-04T17:25:51Z [46,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T17:25:51Z [46,113ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T17:25:51Z [46,114ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T17:25:52Z [46,129ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T17:25:52Z [46,144ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T17:25:52Z [46,144ms] [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']
+2026-11-04T17:26:07Z [61,441ms] [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@ <0x559250751be0>)
+
+2026-11-04T17:26:07Z [61,442ms] [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@ <0x559250751be0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T17:26:11Z [65,627ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.521022 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...
+2026-11-04T17:26:16Z [71,116ms] [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.
+2026-11-04T17:26:16Z [71,117ms] [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.
+2026-11-04T17:26:17Z [71,183ms] [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.
+2026-11-04T17:26:17Z [71,183ms] [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.
+2026-11-04T17:26:17Z [71,200ms] [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.
+2026-11-04T17:26:17Z [71,208ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T17:26:17Z [71,405ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T17:26:17Z [71,433ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T17:26:19Z [73,498ms] [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((33))' not available in the MDL representation.
+2026-11-04T17:26:19Z [73,498ms] [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((33))' not available in the MDL representation.
+2026-11-04T17:26:20Z [74,750ms] [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((50))' not available in the MDL representation.
+2026-11-04T17:26:20Z [74,750ms] [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((50))' not available in the MDL representation.
+2026-11-04T17:26:20Z [74,989ms] [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((69))' not available in the MDL representation.
+2026-11-04T17:26:20Z [74,989ms] [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((69))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,020ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,020ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,022ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,044ms] [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((83))' not available in the MDL representation.
+2026-11-04T17:26:20Z [75,045ms] [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((83))' not available in the MDL representation.
+2026-11-04T17:26:21Z [75,849ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-04T17:26:21Z [75,849ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,019ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,019ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,030ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,030ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,038ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,039ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,094ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,094ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,108ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,108ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,117ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-04T17:26:21Z [76,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((147))' not available in the MDL representation.
+2026-11-04T17:26:23Z [77,778ms] [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((153))' not available in the MDL representation.
+2026-11-04T17:26:23Z [77,778ms] [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((153))' not available in the MDL representation.
+2026-11-04T17:26:24Z [79,105ms] [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((221))' not available in the MDL representation.
+2026-11-04T17:26:24Z [79,105ms] [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((221))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,359ms] [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((245))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,359ms] [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((245))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,427ms] [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((254))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,427ms] [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((254))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,437ms] [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((260))' not available in the MDL representation.
+2026-11-04T17:26:25Z [79,437ms] [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((260))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,483ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T17:26:27Z [81,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((77))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,808ms] [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((83))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,808ms] [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((83))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,811ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,811ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,814ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,814ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,815ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,815ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,822ms] [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((245))' not available in the MDL representation.
+2026-11-04T17:26:27Z [81,822ms] [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((245))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.771279 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+
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+2026-11-04T18:36:14Z [4,268,873ms] [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.
+[2026-11-04T18:36:19Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-04T18:38:19Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_183931.log
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T18:39:31Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T18:39:31Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T18:39:31Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-04T18:39:31Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T18:39:31Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T18:39:31Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T18:39:31Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T18:39:31Z [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'
+2026-11-04T18:39:31Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T18:39:34Z [3,787ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:34Z [3,788ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:34Z [3,874ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T18:39:35Z [4,512ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:35Z [4,514ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:35Z [4,515ms] [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          | Yes: 0 |     | 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          |        |     | 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: 843841
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T18:39:37Z [6,278ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T18:39:37Z [6,278ms] [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 
+     0 910.02  15.93  17.42  16.00  18.29  17.91  18.13  17.76 
+     1  18.53 919.66  17.79  18.67  19.52  18.85  19.41  19.10 
+     2  17.68  17.78 922.92  16.96  18.58  18.50  17.86  18.37 
+     3  17.40  17.96  18.61 916.42  18.64  19.49  19.37  18.71 
+     4  22.53  20.74  22.44  22.33 922.78  22.05  21.69  22.13 
+     5  19.87  22.34  21.15  22.41  22.45 921.29  22.05  22.31 
+     6  20.29  22.37  20.71  22.42  22.60  21.96 923.46  22.01 
+     7  19.60  22.30  21.87  22.57  22.38  21.89  22.01 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.52  13.77  12.52  12.54  14.62  12.53  13.15  12.52 
+     1  13.08   1.36  11.66  11.92  11.46  12.14  11.63  15.79 
+     2  12.99  11.59   1.42  11.83  11.54  11.77  12.86  11.89 
+     3  12.24  11.55  12.13   1.34  11.49  11.77  14.21  11.54 
+     4  13.67  20.52  11.65  11.64   1.35  11.53  11.55  11.43 
+     5  20.53  11.60  15.01  20.54  20.54   1.37  11.53  20.56 
+     6  11.34  20.15  11.86  15.89  19.59  20.54   1.35  12.47 
+     7  17.74  11.33  11.42  20.53  11.94  11.85  16.68   1.33 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.41  10.20  10.76   9.17  10.86  10.81  12.67  10.61 
+     1   9.62   2.97   9.10   8.79  10.58  10.99  10.43  10.36 
+     2   9.30   8.97   3.29   8.94  10.62  10.78  10.54  10.36 
+     3   9.23   9.35   8.87   2.99  10.59  10.49  10.67  10.33 
+     4  10.45  10.15  10.00   9.85   3.43  11.60  11.52  11.44 
+     5  10.21  10.06   9.86   9.86  11.55   3.36  11.41  11.32 
+     6  10.46   9.95   9.80   9.74  14.47  11.94   3.78  12.34 
+     7  10.66  10.19  10.23  10.06  11.84  12.07  15.37   3.38 
+2026-11-04T18:39:40Z [8,983ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.9 GB/s.
+2026-11-04T18:39:40Z [8,984ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-04T18:39:40Z [8,984ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T18:39:43Z [12,331ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,332ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:43Z [12,417ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,417ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:43Z [12,425ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,426ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:43Z [12,618ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,618ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:43Z [12,623ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,623ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:43Z [12,628ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T18:39:43Z [12,629ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T18:39:44Z [13,573ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T18:39:48Z [17,088ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T18:39:59Z [28,209ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T18:40:00Z [29,345ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T18:40:13Z [42,438ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T18:40:13Z [42,441ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T18:40:14Z [42,933ms] [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.
+2026-11-04T18:40:17Z [46,122ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T18:40:17Z [46,124ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T18:40:17Z [46,126ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T18:40:17Z [46,146ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T18:40:17Z [46,161ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T18:40:17Z [46,161ms] [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']
+2026-11-04T18:40:32Z [61,112ms] [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@ <0x55ea115d2db0>)
+
+2026-11-04T18:40:32Z [61,113ms] [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@ <0x55ea115d2db0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T18:40:36Z [65,187ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.477667 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...
+2026-11-04T18:40:41Z [70,866ms] [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.
+2026-11-04T18:40:41Z [70,867ms] [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.
+2026-11-04T18:40:42Z [70,944ms] [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.
+2026-11-04T18:40:42Z [70,944ms] [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.
+2026-11-04T18:40:42Z [70,953ms] [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.
+2026-11-04T18:40:42Z [70,961ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T18:40:42Z [71,156ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T18:40:42Z [71,181ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T18:40:47Z [76,256ms] [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.
+2026-11-04T18:40:47Z [76,256ms] [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.
+2026-11-04T18:40:48Z [77,207ms] [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((68))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,207ms] [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((68))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,213ms] [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((70))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,213ms] [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((70))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,888ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,889ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((78))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,911ms] [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((81))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,911ms] [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((81))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,926ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-04T18:40:48Z [77,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,354ms] [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((91))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,354ms] [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((91))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,361ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,361ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((94))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,564ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,564ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,680ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,689ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,689ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,920ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-04T18:40:49Z [78,920ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-04T18:40:50Z [78,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-04T18:40:50Z [78,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,367ms] [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((224))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,367ms] [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((224))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,411ms] [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((243))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,411ms] [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((243))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,417ms] [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((246))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,417ms] [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((246))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,473ms] [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((267))' not available in the MDL representation.
+2026-11-04T18:40:50Z [79,473ms] [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((267))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,220ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T18:40:52Z [81,500ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,500ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,501ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,501ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((82))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,505ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,505ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,507ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,507ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((153))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,511ms] [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((224))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,511ms] [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((224))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,514ms] [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((267))' not available in the MDL representation.
+2026-11-04T18:40:52Z [81,514ms] [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((267))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.930364 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+
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+2026-11-04T19:48:22Z [4,131,678ms] [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.
+[2026-11-04T19:48:26Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 4/10 in 240s
+[2026-11-04T19:52:27Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_195335.log
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T19:53:35Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:35Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T19:53:35Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T19:53:35Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T19:53:35Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T19:53:35Z [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'
+2026-11-04T19:53:39Z [3,922ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:39Z [3,923ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:39Z [4,015ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T19:53:40Z [4,610ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:40Z [4,610ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:40Z [4,612ms] [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          | Yes: 0 |     | 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          |        |     | 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: 856676
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T19:53:42Z [6,456ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T19:53:42Z [6,456ms] [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 
+     0 911.39  21.89  21.87  21.62  19.93  18.33  18.33  18.36 
+     1  19.28 919.66  22.10  22.13  21.88  20.48  19.68  19.01 
+     2  18.49  22.19 922.02  22.04  21.94  19.46  19.35  18.24 
+     3  17.46  21.65  21.99 919.66  19.96  19.05  19.72  18.97 
+     4  22.46  19.70  17.66  18.32 922.39  21.49  22.24  22.39 
+     5  19.04  20.35  18.77  18.07  17.51 920.20  22.06  22.37 
+     6  21.92  19.80  17.94  18.26  17.24  21.65 920.74  22.30 
+     7  19.27  20.90  19.15  19.33  17.36  21.92  22.26 923.38 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  11.99  12.42  12.59  11.79  11.79  12.43  11.75 
+     1  13.20   1.46  12.51  17.61  19.42  11.44  12.03  12.96 
+     2  12.54  12.19   1.35  12.48  11.97  20.01  11.59  11.83 
+     3  11.79  15.85  20.52   1.34  16.62  14.84  15.93  11.59 
+     4  11.94  11.36  11.42  11.46   1.47  15.82  11.70  11.50 
+     5  14.42  15.00  13.55  18.03  17.41   1.38  12.99  13.08 
+     6  13.77  14.17  13.54  11.64  12.29  11.52   1.37  10.88 
+     7  14.35  18.62  12.59  11.87  11.84  13.61  10.38   1.32 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.12  11.26  13.68  11.69   9.90   9.70   8.53   8.44 
+     1  10.78   3.23  13.47  14.50  11.43   9.86   7.87   7.95 
+     2  11.41  10.63   3.75  11.95  10.03  10.88   8.71   8.77 
+     3  10.97  10.59  11.75   3.77  10.20  10.03   8.89   9.01 
+     4  10.21   9.61  10.63  10.73   3.17   9.17   7.70   7.62 
+     5   9.65   9.31  10.60  11.20   9.04   2.92   7.81   7.61 
+     6   8.62   8.35   9.71  10.02   8.05   7.91   2.25   6.77 
+     7   8.56   8.56   9.83   9.68   7.98   8.08   6.74   2.24 
+2026-11-04T19:53:44Z [9,131ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-04T19:53:44Z [9,132ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-04T19:53:44Z [9,132ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T19:53:47Z [12,351ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:47Z [12,352ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:48Z [12,440ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:48Z [12,440ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:48Z [12,449ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:48Z [12,449ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:48Z [12,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:48Z [12,644ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:48Z [12,648ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:48Z [12,649ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:48Z [12,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T19:53:48Z [12,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T19:53:49Z [13,599ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T19:53:52Z [17,033ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T19:54:02Z [27,362ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T19:54:04Z [28,455ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T19:54:17Z [41,429ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T19:54:17Z [41,431ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T19:54:17Z [41,937ms] [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.
+2026-11-04T19:54:20Z [44,893ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T19:54:20Z [44,893ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T19:54:20Z [44,894ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T19:54:20Z [44,913ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T19:54:20Z [44,924ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T19:54:20Z [44,925ms] [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']
+2026-11-04T19:54:35Z [59,662ms] [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@ <0x55b77ab72430>)
+
+2026-11-04T19:54:35Z [59,663ms] [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@ <0x55b77ab72430>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T19:54:39Z [63,643ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.464053 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...
+2026-11-04T19:54:44Z [69,119ms] [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.
+2026-11-04T19:54:44Z [69,119ms] [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.
+2026-11-04T19:54:44Z [69,190ms] [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.
+2026-11-04T19:54:44Z [69,191ms] [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.
+2026-11-04T19:54:44Z [69,199ms] [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.
+2026-11-04T19:54:44Z [69,207ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T19:54:44Z [69,391ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T19:54:45Z [69,415ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T19:54:48Z [73,311ms] [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((31))' not available in the MDL representation.
+2026-11-04T19:54:48Z [73,312ms] [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((31))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,114ms] [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((36))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,115ms] [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((36))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,203ms] [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((54))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,203ms] [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((54))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,245ms] [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((59))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,245ms] [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((59))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,268ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((67))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,269ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((67))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,276ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,276ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,336ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-04T19:54:50Z [75,336ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((75))' not available in the MDL representation.
+2026-11-04T19:54:51Z [75,395ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-04T19:54:51Z [75,396ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-04T19:54:51Z [75,620ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-04T19:54:51Z [75,620ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-04T19:54:52Z [77,230ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-04T19:54:52Z [77,231ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,009ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,009ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,063ms] [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((158))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,063ms] [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((158))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,326ms] [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((166))' not available in the MDL representation.
+2026-11-04T19:54:53Z [78,326ms] [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((166))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,624ms] [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((193))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,624ms] [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((193))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,698ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((208))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,991ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-04T19:54:54Z [78,991ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((251))' not available in the MDL representation.
+2026-11-04T19:54:54Z [79,004ms] [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((255))' not available in the MDL representation.
+2026-11-04T19:54:54Z [79,004ms] [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((255))' not available in the MDL representation.
+2026-11-04T19:54:54Z [79,016ms] [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((262))' not available in the MDL representation.
+2026-11-04T19:54:54Z [79,017ms] [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((262))' not available in the MDL representation.
+2026-11-04T19:54:55Z [79,759ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T19:54:55Z [80,050ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((67))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,050ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((67))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,053ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,053ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,056ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,057ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,060ms] [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((193))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,061ms] [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((193))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,064ms] [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((255))' not available in the MDL representation.
+2026-11-04T19:54:55Z [80,064ms] [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((255))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.029602 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+2026-11-04T21:06:18Z [4,362,603ms] [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.
+[2026-11-04T21:06:22Z] GPU 1: PlasticBottlesInSquarePailTask/1: client exited (status=0) with incomplete results; retry 5/10 in 300s
+[2026-11-04T21:11:22Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_211236.log
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+2026-11-04T21:12:36Z [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'
+2026-11-04T21:12:36Z [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'
+2026-11-04T21:12:36Z [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'
+2026-11-04T21:12:36Z [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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+2026-11-04T21:12:36Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T21:12:36Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T21:12:36Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T21:12:36Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T21:12:36Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T21:12:40Z [4,143ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:40Z [4,144ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:40Z [4,233ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T21:12:41Z [4,848ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:41Z [4,849ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:41Z [4,850ms] [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          | Yes: 0 |     | 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          |        |     | 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: 871180
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T21:12:43Z [6,681ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T21:12:43Z [6,681ms] [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 
+     0 910.43  16.59  17.99  16.55  18.38  18.22  18.04  18.65 
+     1  19.33 920.59  18.07  19.08  19.43  18.87  19.58  19.41 
+     2  18.79  18.63 921.49  17.73  18.82  18.35  18.85  19.05 
+     3  17.62  18.79  19.26 918.46  18.66  19.47  18.77  19.63 
+     4  22.19  22.11  22.33  20.72 920.88  22.31  22.29  22.54 
+     5  19.79  22.30  20.73  21.95  22.36 923.04  22.35  22.52 
+     6  19.04  22.33  20.44  21.95  22.23  22.34 921.83  22.02 
+     7  19.82  22.38  20.69  22.30  22.33  22.08  22.46 924.42 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  11.56  11.66  12.23  13.92  13.18  15.40  15.76 
+     1  11.69   1.44  11.60  11.68  15.74  15.54  13.10  12.56 
+     2  12.88  11.58   1.42  11.81  12.38  12.33  12.04  15.17 
+     3  13.53  11.53  12.18   1.31  14.39  13.49  12.50  13.39 
+     4  15.50  14.80  13.32  15.03   1.40  14.44  10.68  12.63 
+     5  11.70  12.29  12.07  13.65  11.05   1.41  11.77  10.40 
+     6  15.24  15.78  12.01  15.41  18.06  11.62   1.43  13.14 
+     7  14.11  13.50  12.73  13.49  10.68  10.36  10.91   1.31 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.90   9.63  11.73   9.86   8.24   8.06   8.21   8.20 
+     1  10.24   2.79   9.84   9.72   8.12   8.08   8.07   8.06 
+     2  10.19  10.05   2.95   9.95   8.19   8.12   8.31   8.15 
+     3  10.13   9.96   9.70   2.88   8.34   7.96   8.22   8.03 
+     4   9.04   8.64   8.75   8.65   2.29   6.90   7.21   6.98 
+     5   8.75   8.60   8.52   8.63   6.95   2.24   7.14   6.88 
+     6   8.91   8.84   8.78   8.87   7.09   7.02   2.27   7.01 
+     7   8.65   8.59   8.77   8.59   7.01   6.86   7.10   2.23 
+2026-11-04T21:12:46Z [9,338ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.6 GB/s.
+2026-11-04T21:12:46Z [9,339ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.1 us.
+2026-11-04T21:12:46Z [9,339ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T21:12:49Z [13,035ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:49Z [13,036ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:49Z [13,122ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:49Z [13,122ms] [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)
+2026-11-04T21:12:49Z [13,130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:49Z [13,130ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:50Z [13,326ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:50Z [13,327ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:50Z [13,332ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:50Z [13,332ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:50Z [13,338ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T21:12:50Z [13,338ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T21:12:50Z [14,277ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T21:12:54Z [17,693ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T21:13:05Z [28,841ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T21:13:06Z [30,162ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T21:13:20Z [44,151ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T21:13:20Z [44,154ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T21:13:21Z [44,644ms] [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.
+2026-11-04T21:13:24Z [47,792ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T21:13:24Z [47,793ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T21:13:24Z [47,796ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T21:13:24Z [47,815ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-04T21:13:24Z [47,829ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T21:13:24Z [47,829ms] [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']
+2026-11-04T21:13:39Z [62,294ms] [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@ <0x5568313b74b0>)
+
+2026-11-04T21:13:39Z [62,295ms] [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@ <0x5568313b74b0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 1 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T21:13:42Z [66,261ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.514481 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...
+2026-11-04T21:13:48Z [72,126ms] [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.
+2026-11-04T21:13:48Z [72,126ms] [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.
+2026-11-04T21:13:48Z [72,213ms] [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.
+2026-11-04T21:13:48Z [72,213ms] [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.
+2026-11-04T21:13:48Z [72,223ms] [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.
+2026-11-04T21:13:48Z [72,232ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T21:13:49Z [72,439ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T21:13:49Z [72,466ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T21:13:51Z [74,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-04T21:13:51Z [74,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-04T21:13:51Z [74,941ms] [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((33))' not available in the MDL representation.
+2026-11-04T21:13:51Z [74,941ms] [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((33))' not available in the MDL representation.
+2026-11-04T21:13:51Z [75,158ms] [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((38))' not available in the MDL representation.
+2026-11-04T21:13:51Z [75,158ms] [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((38))' not available in the MDL representation.
+2026-11-04T21:13:51Z [75,173ms] [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((40))' not available in the MDL representation.
+2026-11-04T21:13:51Z [75,174ms] [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((40))' not available in the MDL representation.
+2026-11-04T21:13:52Z [76,002ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T21:13:52Z [76,002ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T21:13:53Z [76,986ms] [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((69))' not available in the MDL representation.
+2026-11-04T21:13:53Z [76,986ms] [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((69))' not available in the MDL representation.
+2026-11-04T21:13:54Z [77,756ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-04T21:13:54Z [77,757ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-04T21:13:54Z [77,800ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-04T21:13:54Z [77,800ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((104))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,432ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,432ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,450ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,450ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,514ms] [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((152))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,514ms] [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((152))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,589ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((185))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,589ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((185))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,901ms] [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((200))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,901ms] [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((200))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,951ms] [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((205))' not available in the MDL representation.
+2026-11-04T21:13:56Z [79,951ms] [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((205))' not available in the MDL representation.
+2026-11-04T21:13:56Z [80,201ms] [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((226))' not available in the MDL representation.
+2026-11-04T21:13:56Z [80,201ms] [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((226))' not available in the MDL representation.
+2026-11-04T21:13:57Z [80,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-11-04T21:13:57Z [80,451ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((243))' not available in the MDL representation.
+2026-11-04T21:13:58Z [81,514ms] [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((251))' not available in the MDL representation.
+2026-11-04T21:13:58Z [81,515ms] [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((251))' not available in the MDL representation.
+2026-11-04T21:13:58Z [82,194ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T21:13:59Z [82,474ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,476ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,477ms] [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((40))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,478ms] [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((40))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,480ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,480ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((64))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,481ms] [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((69))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,481ms] [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((69))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,484ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,484ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((118))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,488ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((185))' not available in the MDL representation.
+2026-11-04T21:13:59Z [82,488ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((185))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.829853 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_1: 'Put all the small plastic bottles in the square pail' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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: True, episode_step: 529, duration: 35.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.085531037051412, 'joint_sparc_mean': -6.69646319390218, 'ee_isj': 582.4148017821683, 'joint_isj': 22055.319159455015, 'ee_path_length': 3.0865673571994976, 'joint_rmse_mean': 1.124296822153341, 'ee_speed_max': 0.28176629543304443, 'ee_speed_mean': 0.08244763314723969}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 954.71, 'policy_inference_avg_ms': 1804.7, 'env_step_s': 178.648, 'env_step_avg_ms': 337.7, 'video_write_s': 4.384, 'video_write_avg_ms': 8.3, 'wall_total_s': 1137.743, 'it_per_sec': 0.46}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c81dbe1ed41948e8bc4ab447833c737b-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
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+2026-11-04T22:41:50Z [5,353,988ms] [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.
+[2026-11-04T22:41:54Z] GPU 1: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T22:42:24Z] GPU 1: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_224343.log
+2026-11-04T22:43:43Z [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'
+2026-11-04T22:43:43Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T22:43:43Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T22:43:43Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T22:43:43Z [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'
+2026-11-04T22:43:43Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T22:43:43Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-04T22:43:43Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-04T22:43:43Z [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'
+2026-11-04T22:43:43Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-04T22:43:43Z [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'
+2026-11-04T22:43:43Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T22:43:43Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T22:43:43Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T22:43:43Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T22:43:43Z [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'
+2026-11-04T22:43:43Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T22:43:49Z [6,028ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:49Z [6,029ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:49Z [6,124ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T22:43:50Z [7,158ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:50Z [7,160ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:50Z [7,165ms] [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          | Yes: 0 |     | 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          |        |     | 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: 873828
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T22:43:52Z [9,242ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T22:43:52Z [9,242ms] [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 
+     0 910.80  18.29  18.71  21.86  21.97  21.88  22.04  22.14 
+     1  22.24 920.78  18.35  22.16  22.36  22.26  22.24  22.10 
+     2  22.16  16.83 924.01  22.30  19.81  18.97  19.13  19.36 
+     3  22.17  18.85  19.82 920.74  22.18  22.51  22.11  22.37 
+     4  19.19  21.67  21.96  18.95 919.64  18.21  18.31  17.00 
+     5  20.12  22.01  22.32  19.59  19.36 921.83  19.31  18.80 
+     6  18.97  21.61  22.28  18.67  18.20  18.12 921.66  18.56 
+     7  20.02  21.52  22.29  18.75  17.45  19.13  18.85 921.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  10.56  10.82  11.69  13.96  11.73  14.35  13.85 
+     1  12.72   1.54  15.72  14.91  20.29  14.83  14.07  16.04 
+     2  11.38  11.37   1.36  11.54  11.47  12.25  11.45  20.54 
+     3  11.82  10.51  11.99   1.31  14.38  13.03  13.76  13.83 
+     4  14.08  11.75  14.05  13.87   1.43  12.00  11.77  11.53 
+     5  11.74  11.74  11.45  11.92  11.37   1.36  11.65  11.59 
+     6  15.39  12.30  13.78  14.27  11.91  20.26   1.48  14.02 
+     7  12.30  11.82  14.84  11.71  11.54  20.54  13.41   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.63   9.12  10.50  10.62   7.37   7.26   7.31   7.30 
+     1   6.84   2.39   7.25   7.14  10.39  10.33   8.20   8.13 
+     2   8.18   7.68   3.07   9.07   9.55   9.36   9.33   9.20 
+     3   7.65   7.47   9.12   3.13   9.96   9.42   9.33   9.18 
+     4   7.85   7.62   9.03   8.90   2.76   9.42   9.45   9.34 
+     5   7.67   7.50   8.90   8.81   9.39   2.70   9.38   9.33 
+     6   8.05   7.66   9.08   8.90   9.43   9.26   2.72   9.49 
+     7   7.75   7.46   8.98   8.85   9.37   9.22   9.39   2.73 
+2026-11-04T22:43:55Z [11,887ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.8 GB/s.
+2026-11-04T22:43:55Z [11,887ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-04T22:43:55Z [11,888ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T22:43:59Z [15,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [15,645ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:59Z [15,749ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [15,749ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:59Z [15,758ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [15,758ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:59Z [15,989ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [15,989ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:59Z [15,994ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [15,994ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:43:59Z [16,001ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T22:43:59Z [16,001ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T22:44:00Z [17,026ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T22:44:04Z [21,064ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T22:44:17Z [33,495ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T22:44:18Z [34,804ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T22:44:34Z [50,586ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T22:44:34Z [51,103ms] [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.
+2026-11-04T22:44:38Z [54,522ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T22:44:38Z [54,524ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T22:44:38Z [54,526ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T22:44:38Z [54,547ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-04T22:44:38Z [54,561ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T22:44:38Z [54,562ms] [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']
+2026-11-04T22:44:53Z [69,908ms] [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@ <0x564560421860>)
+
+2026-11-04T22:44:53Z [69,909ms] [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@ <0x564560421860>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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
+2026-11-04T22:44:58Z [74,521ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.645816 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...
+2026-11-04T22:45:04Z [80,468ms] [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.
+2026-11-04T22:45:04Z [80,469ms] [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.
+2026-11-04T22:45:04Z [80,547ms] [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.
+2026-11-04T22:45:04Z [80,547ms] [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.
+2026-11-04T22:45:04Z [80,555ms] [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.
+2026-11-04T22:45:04Z [80,562ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T22:45:04Z [80,756ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T22:45:04Z [80,778ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T22:45:05Z [81,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-11-04T22:45:05Z [81,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-11-04T22:45:07Z [83,677ms] [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((83))' not available in the MDL representation.
+2026-11-04T22:45:07Z [83,678ms] [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((83))' not available in the MDL representation.
+2026-11-04T22:45:07Z [83,694ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-04T22:45:07Z [83,694ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-04T22:45:07Z [84,099ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-04T22:45:07Z [84,099ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-04T22:45:07Z [84,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T22:45:07Z [84,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,184ms] [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((100))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,185ms] [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((100))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,205ms] [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((103))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,205ms] [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((103))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,230ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,230ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,254ms] [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((125))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,254ms] [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((125))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,257ms] [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((127))' not available in the MDL representation.
+2026-11-04T22:45:08Z [85,258ms] [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((127))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,294ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,294ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,309ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,313ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-04T22:45:09Z [86,313ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((157))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,064ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,065ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,127ms] [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((191))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,127ms] [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((191))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,210ms] [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((202))' not available in the MDL representation.
+2026-11-04T22:45:11Z [88,210ms] [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((202))' not available in the MDL representation.
+2026-11-04T22:45:13Z [89,762ms] [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((266))' not available in the MDL representation.
+2026-11-04T22:45:13Z [89,762ms] [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((266))' not available in the MDL representation.
+2026-11-04T22:45:13Z [89,784ms] [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((271))' not available in the MDL representation.
+2026-11-04T22:45:13Z [89,784ms] [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((271))' not available in the MDL representation.
+2026-11-04T22:45:13Z [90,401ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T22:45:14Z [90,775ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,776ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((22))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,781ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,782ms] [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((103))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,782ms] [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((103))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,785ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,786ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,787ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,788ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((170))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,793ms] [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((271))' not available in the MDL representation.
+2026-11-04T22:45:14Z [90,793ms] [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((271))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.714427 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] Task `PlasticBottlesInSquarePailTask` run `0` already done. Skipping.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` run `1` already done. Skipping.
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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: 514, duration: 34.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.8951311334090635, 'joint_sparc_mean': -7.519627397873149, 'ee_isj': 923.3575258732269, 'joint_isj': 7884.935025201334, 'ee_path_length': 3.107880605366806, 'joint_rmse_mean': 1.1633377036520574, 'ee_speed_max': 0.47274258732795715, 'ee_speed_mean': 0.08432532101869583}, events: {'TARGET_OBJECT_DROPPED': 4, 'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 916.991, 'policy_inference_avg_ms': 1784.0, 'env_step_s': 157.622, 'env_step_avg_ms': 306.7, 'video_write_s': 4.735, 'video_write_avg_ms': 9.2, 'wall_total_s': 1079.349, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1c8794100c6e4c33873ce0a08c1f5d1f-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
+2026-11-04T23:03:48Z [1,204,815ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.220845 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...
+2026-11-04T23:03:50Z [1,207,224ms] [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.
+2026-11-04T23:03:50Z [1,207,224ms] [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.
+2026-11-04T23:03:50Z [1,207,233ms] [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.
+2026-11-04T23:03:50Z [1,207,233ms] [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.
+2026-11-04T23:03:50Z [1,207,241ms] [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.
+2026-11-04T23:03:50Z [1,207,248ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T23:03:50Z [1,207,267ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-04T23:03:51Z [1,207,621ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,621ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,654ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,654ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,661ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,661ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,710ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,710ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,879ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,207,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,349ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((397))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,353ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,353ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,353ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,354ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((424))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,359ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+2026-11-04T23:03:51Z [1,208,359ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((512))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.433211 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_refine_vla/gpu_1/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: 698, duration: 46.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.652465883437894, 'joint_sparc_mean': -6.399694834227085, 'ee_isj': 675.5050476628758, 'joint_isj': 26688.55346686196, 'ee_path_length': 2.864323032037384, 'joint_rmse_mean': 0.8788636135251091, 'ee_speed_max': 0.43013519048690796, 'ee_speed_mean': 0.05697469040751457}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 6, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'upright_white_mug', 'upright_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1485.349, 'policy_inference_avg_ms': 2128.0, 'env_step_s': 191.254, 'env_step_avg_ms': 274.0, 'video_write_s': 6.012, 'video_write_avg_ms': 8.6, 'wall_total_s': 1682.615, 'it_per_sec': 0.41}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'upright_white_mug', harness_episode_id: 7e036da9fdd84288ab8221196a6808c8-0
+[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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+2026-11-05T00:33:57Z [6,614,122ms] [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.
+[2026-11-05T00:34:01Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-05T00:34:31Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_003544.log
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T00:35:44Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T00:35:44Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T00:35:44Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:44Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-05T00:35:44Z [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'
+2026-11-05T00:35:49Z [4,909ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:49Z [4,910ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:49Z [4,997ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T00:35:50Z [5,586ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:50Z [5,587ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:50Z [5,588ms] [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          | Yes: 0 |     | 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          |        |     | 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: 870110
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T00:35:51Z [7,383ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T00:35:51Z [7,384ms] [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 
+     0 910.75  22.15  21.76  21.63  19.98  22.13  21.50  22.23 
+     1  22.02 922.37  21.60  21.99  20.47  22.43  22.06  22.42 
+     2  22.30  21.71 921.29  22.06  20.27  22.44  21.86  22.31 
+     3  22.17  21.72  21.86 919.12  19.81  22.37  21.88  22.31 
+     4  19.02  18.50  19.13  19.03 920.22  18.51  17.44  16.73 
+     5  19.77  18.99  19.55  19.69  19.23 921.29  19.15  19.10 
+     6  19.08  18.29  18.98  18.87  18.30  18.27 921.81  17.95 
+     7  19.37  19.66  19.48  19.71  17.60  18.86  19.27 921.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  14.31  12.58  14.09  13.00  13.85  12.39  12.10 
+     1  13.76   1.54  13.49  14.68  12.27  13.96  12.08  11.50 
+     2  12.29  11.95   1.36  12.62  13.17  13.31  13.20  13.76 
+     3  11.27  13.96  11.66   1.31  11.41  11.51  20.08  11.50 
+     4  19.99  11.51  12.05  11.61   1.43  11.62  11.50  11.35 
+     5  11.74  11.52  13.58  14.44  11.69   1.40  11.74  11.57 
+     6  12.73  12.55  12.39  14.33  12.44  12.62   1.45  12.38 
+     7  12.14  13.18  12.21  11.40  16.44  11.70  11.88   1.42 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.07   9.80  10.35   9.38   8.43   8.45   8.22   8.46 
+     1   9.61   2.90   9.49   9.20   8.21   8.30   8.08   8.19 
+     2   9.45   9.16   2.96   9.23   8.32   8.54   8.28   8.19 
+     3   9.42   9.24   9.39   2.89   8.48   8.44   8.21   8.16 
+     4   8.82   8.70   8.75   8.64   2.52   7.89   7.69   7.67 
+     5   8.75   8.46   8.74  11.19   9.31   2.97   9.22   9.27 
+     6  11.55  11.06  11.16  11.05   9.25   9.19   2.91   9.03 
+     7  10.97  10.84  10.87  10.90   9.05   9.09   8.96   3.00 
+2026-11-05T00:35:54Z [10,027ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-05T00:35:54Z [10,028ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.1 us.
+2026-11-05T00:35:54Z [10,028ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T00:35:58Z [13,718ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,718ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:58Z [13,801ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,801ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:58Z [13,810ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,810ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:58Z [13,983ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,983ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:58Z [13,987ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,987ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:58Z [13,992ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T00:35:58Z [13,992ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T00:35:59Z [14,901ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T00:36:02Z [18,204ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T00:36:12Z [27,743ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T00:36:13Z [28,864ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T00:36:25Z [41,143ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T00:36:26Z [41,648ms] [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.
+2026-11-05T00:36:29Z [45,133ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T00:36:29Z [45,134ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T00:36:29Z [45,137ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T00:36:29Z [45,155ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T00:36:29Z [45,171ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T00:36:29Z [45,171ms] [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']
+2026-11-05T00:36:43Z [59,419ms] [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@ <0x557d3d816ad0>)
+
+2026-11-05T00:36:43Z [59,420ms] [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@ <0x557d3d816ad0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T00:36:47Z [63,237ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.523456 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...
+2026-11-05T00:36:52Z [67,973ms] [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.
+2026-11-05T00:36:52Z [67,973ms] [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.
+2026-11-05T00:36:52Z [68,056ms] [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.
+2026-11-05T00:36:52Z [68,056ms] [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.
+2026-11-05T00:36:52Z [68,065ms] [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.
+2026-11-05T00:36:52Z [68,072ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T00:36:52Z [68,254ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T00:36:52Z [68,272ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T00:36:57Z [72,672ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-05T00:36:57Z [72,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,390ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,390ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,426ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,426ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,438ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T00:36:57Z [73,438ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T00:36:58Z [73,479ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-05T00:36:58Z [73,479ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-05T00:37:00Z [75,799ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T00:37:00Z [76,125ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,126ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,129ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,129ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,130ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,131ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,132ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,132ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,132ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,133ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,134ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+2026-11-05T00:37:00Z [76,135ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((164))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.470067 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] 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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 89%|████████▉ | 805/900 [1:06:23<07:50,  4.95s/it]
+2026-11-05T01:43:25Z [4,060,870ms] [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.
+[2026-11-05T01:43:30Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-05T01:44:30Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_014544.log
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T01:45:44Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T01:45:44Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:44Z [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'
+2026-11-05T01:45:49Z [5,573ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:45:49Z [5,574ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:45:50Z [5,674ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T01:45:50Z [6,368ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:45:50Z [6,369ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:45:50Z [6,370ms] [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          | Yes: 0 |     | 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          |        |     | 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: 870638
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T01:45:52Z [8,150ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T01:45:52Z [8,151ms] [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 
+     0 911.11  22.17  22.06  21.68  20.91  22.33  21.79  22.15 
+     1  22.00 923.43  22.03  21.66  20.06  22.43  21.98  22.21 
+     2  22.56  22.22 920.81  21.80  22.37  22.57  20.37  22.50 
+     3  22.50  21.76  21.97 919.66  20.06  22.36  21.93  22.24 
+     4  19.35  18.73  19.18  18.75 922.25  18.65  17.78  16.72 
+     5  20.49  19.58  20.17  19.50  19.38 922.92  18.61  19.26 
+     6  19.04  19.13  19.11  17.28  18.33  18.26 921.83  17.55 
+     7  19.75  19.77  18.88  19.77  17.70  18.75  19.37 920.74 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  12.61  13.98  11.63  11.47  11.61  12.77  14.47 
+     1  14.44   1.55  12.45  11.42  11.65  11.42  14.30  11.35 
+     2  14.27  12.02   1.37  13.99  12.05  13.85  11.92  13.74 
+     3  14.66  12.13  20.52   1.32  12.28  15.42  12.42  14.04 
+     4  12.46  11.39  12.25  11.41   1.44  11.64  11.75  11.39 
+     5  13.30  13.36  13.27  12.74  14.95   1.36  12.56  12.45 
+     6  12.70  12.01  13.01  17.05  18.18  11.43   1.45  11.37 
+     7  11.61  11.34  19.99  11.65  11.35  11.51  11.26   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.75  12.16  11.86  11.98  10.11   9.84   9.90   9.82 
+     1  12.25   3.61  12.01  11.89   9.94  10.57  10.08  10.12 
+     2  12.16  11.84   3.79  11.86  10.16  10.12   9.96   9.97 
+     3  11.96  11.96  11.83   3.37   9.87  10.07   9.97   9.96 
+     4  10.74  10.97  10.78  10.61   2.99   8.91   8.70   8.80 
+     5  10.74  10.50  10.67  11.07   9.01   4.78   8.81   8.83 
+     6  11.14  10.68  10.74  11.31  16.06   7.66   2.52   7.82 
+     7   8.82   8.62   8.68   8.66   7.78   7.71   7.91   2.48 
+2026-11-05T01:45:55Z [10,798ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-05T01:45:55Z [10,799ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T01:45:55Z [10,799ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T01:45:59Z [15,281ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:45:59Z [15,282ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:45:59Z [15,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:45:59Z [15,441ms] [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)
+2026-11-05T01:45:59Z [15,451ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:45:59Z [15,452ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:46:00Z [15,712ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:46:00Z [15,712ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:46:00Z [15,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:46:00Z [15,724ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:46:00Z [15,731ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T01:46:00Z [15,731ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T01:46:01Z [17,105ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T01:46:05Z [20,706ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T01:46:16Z [32,320ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T01:46:17Z [33,579ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T01:46:32Z [48,405ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T01:46:33Z [48,923ms] [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.
+2026-11-05T01:46:36Z [51,977ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T01:46:36Z [51,977ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T01:46:36Z [51,978ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T01:46:36Z [51,995ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T01:46:36Z [52,008ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T01:46:36Z [52,009ms] [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']
+2026-11-05T01:46:50Z [66,485ms] [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@ <0x559cd9cab8c0>)
+
+2026-11-05T01:46:50Z [66,486ms] [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@ <0x559cd9cab8c0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T01:46:54Z [70,415ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.496917 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...
+2026-11-05T01:47:00Z [76,137ms] [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.
+2026-11-05T01:47:00Z [76,138ms] [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.
+2026-11-05T01:47:00Z [76,219ms] [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.
+2026-11-05T01:47:00Z [76,219ms] [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.
+2026-11-05T01:47:00Z [76,228ms] [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.
+2026-11-05T01:47:00Z [76,236ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T01:47:00Z [76,422ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T01:47:00Z [76,445ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T01:47:07Z [83,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,377ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,377ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,387ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,388ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,404ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T01:47:07Z [83,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T01:47:08Z [84,386ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T01:47:08Z [84,386ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T01:47:12Z [88,251ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((233))' not available in the MDL representation.
+2026-11-05T01:47:12Z [88,252ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((233))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,060ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T01:47:13Z [89,338ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,338ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,339ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,339ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,340ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,340ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,341ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,341ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((131))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,343ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,343ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,347ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((233))' not available in the MDL representation.
+2026-11-05T01:47:13Z [89,347ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((233))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 18.525556 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] 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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+2026-11-05T02:51:38Z [3,953,633ms] [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.
+[2026-11-05T02:51:42Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-05T02:53:42Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_025500.log
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T02:55:00Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T02:55:00Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T02:55:00Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T02:55:00Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T02:55:00Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-05T02:55:00Z [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'
+2026-11-05T02:55:00Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-05T02:55:06Z [5,767ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:06Z [5,767ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T02:55:06Z [5,860ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T02:55:07Z [6,580ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:07Z [6,581ms] [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)
+2026-11-05T02:55:07Z [6,582ms] [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          | Yes: 0 |     | 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          |        |     | 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: 869294
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T02:55:08Z [8,320ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T02:55:08Z [8,320ms] [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 
+     0 912.21  21.90  22.07  21.98  19.59  22.22  21.99  22.42 
+     1  22.17 921.29  22.06  22.08  20.33  21.96  20.78  22.24 
+     2  22.31  22.10 922.37  22.04  19.87  22.29  20.32  22.45 
+     3  22.19  21.91  22.07 919.12  19.90  22.39  21.94  22.28 
+     4  19.44  17.95  19.43  18.40 920.86  18.54  18.32  16.66 
+     5  20.28  19.60  20.92  19.72  19.44 921.29  18.78  18.99 
+     6  19.25  18.57  19.38  18.82  18.29  18.21 920.74  17.76 
+     7  19.14  20.27  20.06  19.29  17.73  19.42  18.63 920.18 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  11.71  12.18  12.93  11.68  12.64  11.26  11.68 
+     1  15.32   1.54  12.14  12.26  20.07  11.35  18.27  25.59 
+     2  12.01  14.80   1.40  14.93  11.25  11.58  11.62  11.34 
+     3  14.02  11.89  12.40   1.32  11.50  11.35  15.78  11.26 
+     4  13.96  13.71  15.09  12.77   1.43  17.99  11.26  11.55 
+     5  16.70  11.64  11.62  11.87  11.42   1.36  11.47  11.34 
+     6  12.99  11.51  11.50  11.21  11.59  20.10   1.44  11.51 
+     7  16.39  12.80  15.45  13.82  11.59  11.35  11.50   1.42 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.38   6.99   6.91   7.89   7.68   7.31   7.47   7.34 
+     1   7.16   2.37   7.03   7.37   7.50   7.21  11.55  17.30 
+     2   7.17   6.69   2.30   6.67   7.66   7.43   7.59   7.38 
+     3   7.00   6.64   6.74   2.19   7.51   7.43   7.48   7.38 
+     4   7.54   7.27   7.25   7.24   2.49   8.01   8.09   7.99 
+     5   7.37   7.14   7.24   7.00   7.88   2.49   7.95   7.89 
+     6   7.46   7.27   7.39   7.02   8.14   7.89   2.48   8.09 
+     7   7.20   7.17   7.17   6.97   7.81   7.68   7.81   2.46 
+2026-11-05T02:55:11Z [10,952ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.7 GB/s.
+2026-11-05T02:55:11Z [10,953ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 25.6 us.
+2026-11-05T02:55:11Z [10,953ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T02:55:14Z [14,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:14Z [14,548ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T02:55:15Z [14,650ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:15Z [14,650ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T02:55:15Z [14,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:15Z [14,660ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T02:55:15Z [14,861ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:15Z [14,861ms] [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)
+2026-11-05T02:55:15Z [14,866ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:15Z [14,866ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T02:55:15Z [14,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T02:55:15Z [14,872ms] [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)
+2026-11-05T02:55:16Z [15,874ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T02:55:20Z [20,495ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T02:55:32Z [32,414ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T02:55:34Z [33,607ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T02:55:49Z [49,375ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T02:55:50Z [49,911ms] [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.
+2026-11-05T02:55:53Z [53,350ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T02:55:53Z [53,351ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T02:55:53Z [53,354ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T02:55:53Z [53,375ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T02:55:53Z [53,387ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T02:55:53Z [53,387ms] [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']
+2026-11-05T02:56:08Z [68,307ms] [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@ <0x560ba9bd5780>)
+
+2026-11-05T02:56:08Z [68,308ms] [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@ <0x560ba9bd5780>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T02:56:12Z [72,419ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.451163 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...
+2026-11-05T02:56:20Z [79,843ms] [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.
+2026-11-05T02:56:20Z [79,844ms] [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.
+2026-11-05T02:56:20Z [79,911ms] [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.
+2026-11-05T02:56:20Z [79,911ms] [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.
+2026-11-05T02:56:20Z [79,919ms] [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.
+2026-11-05T02:56:20Z [79,925ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T02:56:20Z [80,102ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T02:56:20Z [80,134ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T02:56:30Z [90,556ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-05T02:56:30Z [90,557ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-05T02:56:31Z [90,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-05T02:56:31Z [90,572ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-05T02:56:31Z [90,616ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T02:56:31Z [90,616ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T02:56:31Z [91,335ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-05T02:56:31Z [91,335ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-05T02:56:31Z [91,350ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T02:56:31Z [91,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T02:56:32Z [91,600ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-05T02:56:32Z [91,600ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-05T02:56:32Z [92,293ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T02:56:33Z [92,569ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,570ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,571ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,571ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((107))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,573ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,574ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,574ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,576ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,581ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+2026-11-05T02:56:33Z [92,582ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((239))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 19.797877 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] 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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+2026-11-05T03:59:37Z [3,876,975ms] [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.
+[2026-11-05T03:59:42Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 4/10 in 240s
+[2026-11-05T04:03:42Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_040457.log
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T04:04:57Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T04:04:57Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T04:04:57Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T04:04:57Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T04:04:57Z [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'
+2026-11-05T04:04:57Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T04:04:57Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-05T04:04:57Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-05T04:04:57Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-05T04:05:02Z [5,263ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:02Z [5,264ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:02Z [5,351ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T04:05:03Z [5,968ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:03Z [5,968ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:03Z [5,970ms] [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          | Yes: 0 |     | 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          |        |     | 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: 867869
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T04:05:05Z [7,876ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T04:05:05Z [7,876ms] [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 
+     0 910.30  21.96  16.15  16.48  17.93  18.36  18.53  18.56 
+     1  21.80 922.37  16.46  19.05  19.69  18.90  19.75  19.34 
+     2  22.59  22.30 921.29  16.29  18.72  18.56  19.11  18.56 
+     3  22.42  22.05  17.02 918.58  19.67  18.68  19.61  19.54 
+     4  18.79  19.37  20.59  22.40 920.42  22.57  22.04  21.90 
+     5  17.83  20.11  20.97  22.32  22.10 920.12  22.17  21.92 
+     6  17.58  19.14  20.80  22.45  22.34  22.29 921.83  22.02 
+     7  17.13  19.65  20.79  22.39  22.37  22.01  22.31 920.54 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  12.80  11.77  11.78  20.53  20.43  15.74  11.29 
+     1  15.45   1.43  12.39  11.60  11.35  20.53  14.74  14.71 
+     2  11.53  12.43   1.42  11.97  12.50  19.10  12.14  11.54 
+     3  11.58  11.47  11.42   1.32  12.67  11.91  12.43  11.88 
+     4  11.36  11.48  11.87  11.84   1.43  11.33  11.35  12.91 
+     5  11.34  13.32  13.12  12.21  20.51   1.36  12.83  15.58 
+     6  12.75  12.11  12.20  14.58  14.30  13.17   1.44  13.27 
+     7  11.87  11.34  11.33  12.26  12.62  14.48  12.94   1.42 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.45   7.21   7.64   8.57  10.15  10.09  10.16   9.92 
+     1   7.21   2.30   7.15   8.31  10.12  10.44  10.12  10.06 
+     2   7.31   7.01   2.43   8.89  10.41  10.32  10.20  10.11 
+     3   8.37   8.23   8.35   3.02  11.50  11.25  11.22  11.10 
+     4   9.81   9.47   9.51  10.80   3.68  12.57  12.45  12.28 
+     5   9.25   9.14   9.25  10.52  12.39   3.67  12.43  12.19 
+     6   9.35   9.45   9.45  10.52  12.47  11.86   3.48  11.95 
+     7   9.00   8.99   9.16  10.39  12.03  11.81  11.89   3.48 
+2026-11-05T04:05:08Z [10,558ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.1 GB/s.
+2026-11-05T04:05:08Z [10,559ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T04:05:08Z [10,559ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T04:05:11Z [14,149ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,150ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:11Z [14,242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,242ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:11Z [14,252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,252ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:11Z [14,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,441ms] [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)
+2026-11-05T04:05:11Z [14,446ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,446ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T04:05:11Z [14,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T04:05:11Z [14,454ms] [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)
+2026-11-05T04:05:12Z [15,433ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T04:05:16Z [18,879ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T04:05:26Z [29,254ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T04:05:27Z [30,449ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T04:05:41Z [44,413ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T04:05:42Z [44,885ms] [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.
+2026-11-05T04:05:45Z [47,859ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T04:05:45Z [47,859ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T04:05:45Z [47,860ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T04:05:45Z [47,875ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T04:05:45Z [47,888ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T04:05:45Z [47,889ms] [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']
+2026-11-05T04:06:03Z [65,867ms] [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@ <0x5625a21a2440>)
+
+2026-11-05T04:06:03Z [65,869ms] [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@ <0x5625a21a2440>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T04:06:07Z [69,794ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.463963 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...
+2026-11-05T04:06:23Z [86,112ms] [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.
+2026-11-05T04:06:23Z [86,112ms] [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.
+2026-11-05T04:06:23Z [86,181ms] [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.
+2026-11-05T04:06:23Z [86,181ms] [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.
+2026-11-05T04:06:23Z [86,190ms] [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.
+2026-11-05T04:06:23Z [86,196ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T04:06:23Z [86,364ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T04:06:23Z [86,385ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T04:06:29Z [91,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,525ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,536ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,536ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,540ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,541ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,562ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-05T04:06:29Z [91,562ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-05T04:06:30Z [92,493ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-05T04:06:30Z [92,493ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-05T04:06:35Z [97,959ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-05T04:06:35Z [97,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-05T04:06:36Z [98,960ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T04:06:36Z [99,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,239ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,239ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,240ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,240ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,241ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,245ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+2026-11-05T04:06:36Z [99,245ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((216))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 29.080254 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] 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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+2026-11-05T05:09:23Z [3,865,861ms] [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.
+[2026-11-05T05:09:28Z] GPU 1: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 5/10 in 300s
+[2026-11-05T05:14:28Z] GPU 1: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_051546.log
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+2026-11-05T05:15:46Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-05T05:15:46Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
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+2026-11-05T05:15:46Z [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'
+2026-11-05T05:15:46Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T05:15:46Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-05T05:15:46Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T05:15:46Z [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'
+2026-11-05T05:15:46Z [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'
+2026-11-05T05:15:46Z [67ms] [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'
+2026-11-05T05:15:52Z [6,562ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:15:52Z [6,563ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:15:52Z [6,658ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T05:15:53Z [7,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:15:53Z [7,726ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:15:53Z [7,727ms] [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          | Yes: 0 |     | 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          |        |     | 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: 882346
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T05:15:55Z [9,617ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T05:15:55Z [9,618ms] [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 
+     0 909.32  17.19  19.22  17.20  18.76  19.14  19.16  18.87 
+     1  19.79 921.29  18.69  19.75  20.20  19.16  19.81  20.09 
+     2  19.35  19.54 919.52  18.57  19.48  19.31  18.83  19.45 
+     3  17.67  19.36  19.76 921.18  19.14  19.75  19.02  20.43 
+     4  22.28  20.56  22.48  20.92 920.98  22.25  22.29  22.27 
+     5  20.23  22.33  20.64  22.48  22.32 921.83  22.29  22.15 
+     6  19.98  22.38  20.59  22.26  22.32  22.32 920.12  22.17 
+     7  19.52  22.54  20.60  22.16  22.41  22.42  21.94 920.73 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  13.42  11.81  12.60  12.03  12.60  12.52  12.60 
+     1  11.64   1.43  11.68  11.99  12.51  12.52  12.05  12.58 
+     2  12.62  12.48   1.44  12.67  14.40  14.40  12.94  12.66 
+     3  12.34  15.93  11.56   1.32  13.01  12.43  12.43  13.05 
+     4  12.86  12.65  12.94  11.70   1.43  13.09  11.61  13.24 
+     5  12.01  12.28  14.35  11.35  20.52   1.35  11.53  20.42 
+     6  11.91  11.45  14.19  13.33  12.83  13.40   1.49  11.35 
+     7  14.00  12.52  12.16  12.32  12.82  11.35  12.91   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.43   9.78   9.60   9.58  11.13  10.90  11.19  10.93 
+     1   9.69   3.16   9.29   9.65  11.12  10.92  10.96  10.83 
+     2   9.45   9.48   3.23   9.58  11.32  12.58  10.29  10.15 
+     3   8.86   8.69   8.61   2.82  10.47  10.32  10.31  10.19 
+     4  10.06   9.94   9.77   9.77   3.36  11.56  11.49  11.33 
+     5   9.83   9.74   9.83   9.67  11.43   3.33  11.44  11.30 
+     6  10.03   9.83   9.80   9.72  11.52  11.44   3.37  11.48 
+     7   9.72   9.77   9.83   9.74  11.46  11.24  11.40   3.41 
+2026-11-05T05:15:58Z [12,256ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-05T05:15:58Z [12,257ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T05:15:58Z [12,257ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T05:16:02Z [15,955ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [15,955ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:02Z [16,058ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [16,059ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:02Z [16,069ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [16,069ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:02Z [16,297ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [16,297ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:02Z [16,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [16,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:02Z [16,310ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T05:16:02Z [16,310ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T05:16:03Z [17,309ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T05:16:07Z [21,127ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T05:16:18Z [32,702ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T05:16:20Z [33,986ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T05:16:35Z [48,962ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T05:16:35Z [49,495ms] [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.
+2026-11-05T05:16:38Z [52,769ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T05:16:38Z [52,770ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T05:16:38Z [52,773ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T05:16:38Z [52,793ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T05:16:38Z [52,806ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T05:16:38Z [52,806ms] [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']
+2026-11-05T05:16:53Z [67,405ms] [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@ <0x560fc6de6460>)
+
+2026-11-05T05:16:53Z [67,406ms] [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@ <0x560fc6de6460>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T05:16:57Z [71,471ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.554678 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...
+2026-11-05T05:17:02Z [76,659ms] [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.
+2026-11-05T05:17:02Z [76,660ms] [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.
+2026-11-05T05:17:02Z [76,736ms] [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.
+2026-11-05T05:17:02Z [76,737ms] [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.
+2026-11-05T05:17:02Z [76,745ms] [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.
+2026-11-05T05:17:02Z [76,752ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T05:17:03Z [76,946ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T05:17:03Z [76,972ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T05:17:09Z [83,472ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,473ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,485ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,486ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,495ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,496ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,518ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,518ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,545ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,545ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,683ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-05T05:17:09Z [83,683ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-05T05:17:10Z [84,570ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T05:17:11Z [84,867ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,867ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,868ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,868ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,869ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,869ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,870ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,870ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((152))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,871ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,872ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,875ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-05T05:17:11Z [84,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.929630 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] 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_refine_vla/gpu_1/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': -3.8025580289218994, 'joint_sparc_mean': -4.66885627401201, 'ee_isj': 56.72288961581295, 'joint_isj': 4737.373432508177, 'ee_path_length': 0.7715547862551868, 'joint_rmse_mean': 0.9600095178415271, 'ee_speed_max': 0.13899080455303192, 'ee_speed_mean': 0.011644331738352776}, events: {'GRIPPER_FULLY_CLOSED': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 537.734, 'policy_inference_avg_ms': 597.5, 'env_step_s': 248.677, 'env_step_avg_ms': 276.3, 'video_write_s': 7.147, 'video_write_avg_ms': 7.9, 'wall_total_s': 793.558, 'it_per_sec': 1.13}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: 08771f0bbcb942aaa3f353ce78caba9f-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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+2026-11-05T06:30:50Z [4,504,697ms] [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.
+[2026-11-05T06:30:55Z] GPU 1: ReorientWhiteMugsTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-05T06:31:25Z] GPU 1: Starting worker at ReorientWhiteMugsTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_063239.log
+2026-11-05T06:32:39Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-05T06:32:39Z [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'
+2026-11-05T06:32:39Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T06:32:39Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T06:32:39Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T06:32:39Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T06:32:39Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-05T06:32:39Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-05T06:32:39Z [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'
+2026-11-05T06:32:39Z [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'
+2026-11-05T06:32:39Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T06:32:39Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T06:32:39Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-05T06:32:39Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T06:32:39Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-05T06:32:39Z [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'
+2026-11-05T06:32:39Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-05T06:32:44Z [5,430ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:44Z [5,431ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:45Z [5,513ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T06:32:46Z [6,549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:46Z [6,551ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:46Z [6,554ms] [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          | Yes: 0 |     | 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          |        |     | 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: 882578
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T06:32:48Z [8,567ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T06:32:48Z [8,568ms] [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 
+     0 908.96  16.88  19.29  17.36  18.70  18.96  18.75  18.49 
+     1  19.70 920.20  19.61  19.74  20.05  19.05  19.83  19.57 
+     2  19.26  19.34 919.66  18.75  19.46  19.05  19.50  19.42 
+     3  16.89  19.75  20.17 922.92  19.25  19.76  20.11  19.23 
+     4  22.50  22.25  22.35  22.41 920.44  22.33  22.35  22.40 
+     5  19.55  22.48  20.81  22.56  22.24 920.20  22.14  22.41 
+     6  19.45  22.17  20.73  22.22  22.20  22.12 922.92  22.44 
+     7  19.99  22.50  22.04  22.43  22.45  22.11  22.64 922.37 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  12.18  11.55  12.13  11.46  11.79  11.35  12.53 
+     1  11.70   1.44  11.38  11.81  11.73  11.69  11.56  11.80 
+     2  11.65  12.18   1.43  11.67  11.55  11.78  11.51  11.59 
+     3  12.28  11.58  11.70   1.32  11.54  11.94  11.69  11.53 
+     4  14.68  11.37  11.37  15.76   1.43  20.28  11.53  16.32 
+     5  17.81  11.35  11.37  11.38  20.53   1.36  11.30  20.53 
+     6  20.55  11.50  11.41  11.35  11.37  12.19   1.49  20.53 
+     7  11.40  12.01  11.64  11.46  11.53  20.54  15.38   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.61  10.24   9.52   9.42  11.23  11.07  11.01  10.81 
+     1   9.81   3.22   9.16   8.91  10.74  10.55  10.51  10.39 
+     2  11.38  10.92   3.08   8.87  10.61  10.44  10.77  10.42 
+     3   9.22   8.82   8.87   3.18  10.76  10.54  10.46  10.34 
+     4  10.27  10.00   9.92   9.97   3.55  11.66  11.76  11.59 
+     5  10.04   9.90   9.83   9.84  11.56   3.48  11.59  11.43 
+     6  10.20  10.01  10.42  10.05  11.82  11.92   3.47  11.81 
+     7  10.09  10.21  10.33   9.91  11.86  11.53  11.71   3.51 
+2026-11-05T06:32:50Z [11,201ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.9 GB/s.
+2026-11-05T06:32:50Z [11,201ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-05T06:32:50Z [11,202ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T06:32:54Z [15,008ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,010ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:54Z [15,127ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,127ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:54Z [15,139ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,139ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:54Z [15,361ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,361ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:54Z [15,367ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,367ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:54Z [15,374ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T06:32:54Z [15,374ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T06:32:55Z [16,334ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T06:32:59Z [19,946ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T06:33:10Z [31,145ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T06:33:11Z [32,410ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T06:33:26Z [47,384ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T06:33:27Z [47,903ms] [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.
+2026-11-05T06:33:30Z [51,032ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T06:33:30Z [51,034ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T06:33:30Z [51,036ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T06:33:30Z [51,057ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T06:33:30Z [51,071ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T06:33:30Z [51,071ms] [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']
+2026-11-05T06:33:46Z [66,507ms] [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@ <0x55cfae179c30>)
+
+2026-11-05T06:33:46Z [66,508ms] [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@ <0x55cfae179c30>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 5 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T06:33:50Z [70,694ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.544278 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...
+2026-11-05T06:33:57Z [77,699ms] [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.
+2026-11-05T06:33:57Z [77,699ms] [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.
+2026-11-05T06:33:57Z [77,774ms] [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.
+2026-11-05T06:33:57Z [77,774ms] [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.
+2026-11-05T06:33:57Z [77,783ms] [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.
+2026-11-05T06:33:57Z [77,791ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T06:33:57Z [77,979ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T06:33:57Z [78,000ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T06:34:05Z [86,158ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-05T06:34:05Z [86,159ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-05T06:34:05Z [86,173ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-05T06:34:05Z [86,173ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-05T06:34:05Z [86,227ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T06:34:05Z [86,227ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T06:34:06Z [86,516ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-05T06:34:06Z [86,516ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-05T06:34:08Z [88,505ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-05T06:34:08Z [88,506ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-05T06:34:08Z [88,802ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-05T06:34:08Z [88,802ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,065ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-05T06:34:10Z [91,348ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,348ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((108))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,353ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,353ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,355ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,355ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,358ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+2026-11-05T06:34:10Z [91,358ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((220))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 20.211478 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] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Task `ReorientWhiteMugsTask` run `1` already done. Skipping.
+[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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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: 521, duration: 34.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.3697494283580935, 'joint_sparc_mean': -8.356804548462224, 'ee_isj': 195.39738507572804, 'joint_isj': 10322.098267245627, 'ee_path_length': 1.657176324886647, 'joint_rmse_mean': 1.0796846629520427, 'ee_speed_max': 0.2155550867319107, 'ee_speed_mean': 0.04274344816803932}, events: {'WRONG_OBJECT_GRABBED': 7, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1061.039, 'policy_inference_avg_ms': 2036.5, 'env_step_s': 150.64, 'env_step_avg_ms': 289.1, 'video_write_s': 4.44, 'video_write_avg_ms': 8.5, 'wall_total_s': 1216.119, 'it_per_sec': 0.43}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 5e9381c44f044e939fadd270507e63bf-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
+2026-11-05T06:55:01Z [1,341,793ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.189488 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...
+2026-11-05T06:55:03Z [1,343,937ms] [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.
+2026-11-05T06:55:03Z [1,343,937ms] [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.
+2026-11-05T06:55:03Z [1,343,946ms] [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.
+2026-11-05T06:55:03Z [1,343,946ms] [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.
+2026-11-05T06:55:03Z [1,343,954ms] [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.
+2026-11-05T06:55:03Z [1,343,961ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T06:55:03Z [1,343,978ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+[INFO]: Time taken for simulation start : 5.388814 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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+2026-11-05T07:55:05Z [4,945,522ms] [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.
+[2026-11-05T07:55:09Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-05T07:55:39Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_075649.log
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-05T07:56:49Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-05T07:56:49Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T07:56:49Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T07:56:49Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-05T07:56:49Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T07:56:49Z [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'
+2026-11-05T07:56:49Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-05T07:56:49Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-05T07:56:55Z [5,862ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:56:55Z [5,863ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:56:55Z [5,949ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T07:56:55Z [6,554ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:56:55Z [6,554ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:56:55Z [6,555ms] [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          | Yes: 0 |     | 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          |        |     | 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: 859052
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T07:56:57Z [8,140ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T07:56:57Z [8,140ms] [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 
+     0 911.51  21.99  21.67  21.86  20.00  22.13  21.99  22.38 
+     1  22.26 922.37  21.92  21.60  19.95  22.11  21.74  22.34 
+     2  22.41  22.18 918.68  22.14  19.99  21.07  22.13  22.58 
+     3  22.45  22.18  22.02 921.29  19.84  22.23  21.58  22.14 
+     4  20.75  18.62  19.21  19.07 922.24  18.15  18.34  16.42 
+     5  21.11  20.22  19.74  19.19  18.89 920.74  18.20  18.73 
+     6  20.68  18.96  19.16  18.87  18.32  18.03 928.95  18.42 
+     7  20.15  20.60  19.47  19.70  16.76  18.18  19.00 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.55  15.92  19.21  16.07  13.61  13.80  13.48  11.89 
+     1  20.51   1.54  19.59  20.50  13.94  16.37  14.43  14.83 
+     2  13.56  14.33   1.43  14.57  13.20  13.79  12.39  12.84 
+     3  12.44  14.27  13.84   1.31  14.00  12.75  13.41  13.35 
+     4  12.00  11.58  12.23  11.38   1.45  12.27  11.57  11.76 
+     5  18.91  13.87  11.38  11.37  11.55   1.37  11.40  12.94 
+     6  12.86  11.69  13.94  20.54  11.57  11.97   1.48  12.52 
+     7  12.05  11.74  12.30  14.15  13.05  12.34  12.80   1.47 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.93  12.57  12.65  12.16  11.54  12.36  10.33  10.01 
+     1  12.75   3.83  12.11  12.05  11.25  10.12  10.01  10.10 
+     2  12.97  12.14   3.85  12.18  10.41  10.36  10.10  10.20 
+     3  12.34  13.96  15.15   3.95  10.82  10.34  10.40  10.06 
+     4  11.01  10.81  11.01  11.10   2.98   9.29   8.95   9.00 
+     5  10.85  10.79  10.88  10.78   9.09   3.08   8.94   8.97 
+     6  13.13  11.21  11.46  10.87   9.03   8.97   3.03   9.22 
+     7  11.03  10.64  10.91  10.76   8.88   8.87   8.85   2.97 
+2026-11-05T07:57:00Z [10,792ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.4 GB/s.
+2026-11-05T07:57:00Z [10,792ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T07:57:00Z [10,793ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T07:57:03Z [14,306ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [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)
+2026-11-05T07:57:03Z [14,406ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [14,406ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:57:03Z [14,414ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [14,414ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:57:03Z [14,611ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [14,612ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:57:03Z [14,617ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [14,617ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T07:57:03Z [14,623ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T07:57:03Z [14,624ms] [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)
+2026-11-05T07:57:04Z [15,531ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T07:57:08Z [18,812ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T07:57:18Z [29,354ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T07:57:19Z [30,545ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T07:57:34Z [44,894ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T07:57:34Z [45,386ms] [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.
+2026-11-05T07:57:37Z [48,423ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T07:57:37Z [48,424ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T07:57:37Z [48,424ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T07:57:37Z [48,439ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T07:57:37Z [48,453ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T07:57:37Z [48,453ms] [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']
+2026-11-05T07:58:00Z [71,540ms] [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@ <0x557fc9240860>)
+
+2026-11-05T07:58:00Z [71,542ms] [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@ <0x557fc9240860>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 6 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T07:58:04Z [75,666ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.437510 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...
+2026-11-05T07:58:10Z [81,035ms] [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.
+2026-11-05T07:58:10Z [81,036ms] [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.
+2026-11-05T07:58:10Z [81,110ms] [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.
+2026-11-05T07:58:10Z [81,110ms] [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.
+2026-11-05T07:58:10Z [81,120ms] [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.
+2026-11-05T07:58:10Z [81,129ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T07:58:10Z [81,288ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T07:58:10Z [81,306ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T07:58:20Z [90,875ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 15.150130 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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+
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+2026-11-05T08:56:30Z [3,581,267ms] [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.
+[2026-11-05T08:56:34Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-05T08:57:34Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_085849.log
+2026-11-05T08:58:49Z [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'
+2026-11-05T08:58:49Z [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'
+2026-11-05T08:58:49Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T08:58:49Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T08:58:49Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T08:58:49Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T08:58:49Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-05T08:58:49Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-05T08:58:49Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-05T08:58:49Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-05T08:58:49Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T08:58:49Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T08:58:49Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-05T08:58:49Z [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'
+2026-11-05T08:58:49Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-05T08:58:49Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-05T08:58:49Z [67ms] [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'
+2026-11-05T08:58:54Z [4,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:58:54Z [4,975ms] [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)
+2026-11-05T08:58:54Z [5,054ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T08:58:54Z [5,647ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:58:54Z [5,648ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:58:54Z [5,648ms] [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          | Yes: 0 |     | 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          |        |     | 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: 855058
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T08:58:56Z [7,365ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T08:58:56Z [7,366ms] [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 
+     0 911.01  17.46  19.39  17.22  19.54  19.65  19.15  19.09 
+     1  19.55 922.46  20.53  19.77  20.52  20.50  20.38  19.12 
+     2  19.52  19.47 920.74  18.56  20.82  20.30  18.89  19.37 
+     3  17.60  20.01  19.66 920.74  21.24  20.09  19.92  19.68 
+     4  21.98  22.52  21.92  22.28 921.59  22.67  22.46  21.23 
+     5  20.24  22.12  20.35  22.41  22.22 918.04  22.43  22.03 
+     6  19.99  22.44  20.46  22.35  22.65  21.91 922.37  22.33 
+     7  19.93  22.30  20.56  22.45  22.58  22.22  22.38 922.36 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.50  16.90  11.86  11.57  12.88  12.74  13.69  14.46 
+     1  20.54   1.44  20.53  11.37  12.17  14.87  12.97  15.09 
+     2  20.54  12.78   1.43  11.48  12.40  13.43  12.87  14.34 
+     3  19.07  11.56  12.29   1.32  11.64  14.00  15.57  13.27 
+     4  13.37  14.95  12.98  12.11   1.44  10.59  12.90  10.92 
+     5  14.81  12.50  13.52  13.39  12.45   1.36  10.43  11.65 
+     6  12.58  15.79  13.29  12.75  17.73  11.02   1.48  10.59 
+     7  17.14  12.68  13.53  14.74  13.16  13.39  14.83   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.94  10.00   9.78   9.67   8.11   7.93   8.07   7.99 
+     1   9.87   2.95   9.78   9.41   7.65   7.75   7.73   7.54 
+     2   9.76   9.59   2.85   9.70   7.88   7.89   7.84   7.81 
+     3   9.66   9.54   9.64   2.80   7.90   8.26   8.26   8.76 
+     4   9.24   8.94   9.16   8.98   2.38   7.31   7.07   7.10 
+     5   9.10   8.83   9.10   8.97   7.26   2.37   7.16   7.07 
+     6   9.02   8.79   8.94   8.91   7.36   7.18   2.33   7.04 
+     7   9.01   8.79   8.74   8.73   7.17   7.19   6.98   2.40 
+2026-11-05T08:58:59Z [9,963ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-05T08:58:59Z [9,964ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T08:58:59Z [9,964ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T08:59:02Z [13,267ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [13,268ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:59:02Z [13,362ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [13,362ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:59:02Z [13,370ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [13,371ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:59:02Z [13,587ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [13,587ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:59:02Z [13,592ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [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)
+2026-11-05T08:59:02Z [13,599ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T08:59:02Z [13,599ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T08:59:03Z [14,505ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T08:59:07Z [17,823ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T08:59:17Z [28,074ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T08:59:18Z [29,164ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T08:59:30Z [41,767ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T08:59:31Z [42,230ms] [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.
+2026-11-05T08:59:34Z [45,204ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T08:59:34Z [45,205ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T08:59:34Z [45,207ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T08:59:34Z [45,226ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T08:59:34Z [45,238ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T08:59:34Z [45,239ms] [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']
+2026-11-05T08:59:48Z [59,690ms] [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@ <0x55aa972077e0>)
+
+2026-11-05T08:59:48Z [59,691ms] [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@ <0x55aa972077e0>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 6 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T08:59:52Z [63,618ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.432617 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...
+2026-11-05T08:59:58Z [69,169ms] [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.
+2026-11-05T08:59:58Z [69,170ms] [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.
+2026-11-05T08:59:58Z [69,245ms] [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.
+2026-11-05T08:59:58Z [69,245ms] [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.
+2026-11-05T08:59:58Z [69,254ms] [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.
+2026-11-05T08:59:58Z [69,262ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T08:59:58Z [69,432ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T08:59:58Z [69,458ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T09:00:08Z [79,453ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 15.775177 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/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: 624, duration: 41.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.354385880590709, 'joint_sparc_mean': -10.302398069805013, 'ee_isj': 1446.285848440876, 'joint_isj': 14211.254659316586, 'ee_path_length': 3.103235540602362, 'joint_rmse_mean': 1.0595911158188107, 'ee_speed_max': 0.7161412239074707, 'ee_speed_mean': 0.07066009193658829}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'yellow_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 1658.163, 'policy_inference_avg_ms': 2657.3, 'env_step_s': 140.808, 'env_step_avg_ms': 225.7, 'video_write_s': 4.873, 'video_write_avg_ms': 7.8, 'wall_total_s': 1803.844, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 091d0598fcc647d38c6bb733a5047469-0
+[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_refine_vla/gpu_1/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: 682, duration: 45.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.114567931239517, 'joint_sparc_mean': -9.834684000845368, 'ee_isj': 1072.6808001239315, 'joint_isj': 10912.037301376635, 'ee_path_length': 3.0931532515623203, 'joint_rmse_mean': 1.006539570402557, 'ee_speed_max': 0.6682946681976318, 'ee_speed_mean': 0.06484371423721313}, events: {'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'GRIPPER_FULLY_CLOSED': 1, 'wrong_objects_grabbed': ['blue_block', 'green_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 1943.409, 'policy_inference_avg_ms': 2849.6, 'env_step_s': 154.232, 'env_step_avg_ms': 226.1, 'video_write_s': 5.528, 'video_write_avg_ms': 8.1, 'wall_total_s': 2103.169, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 3f6a417d7c814f929d9d65f3ce031bde-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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+2026-11-05T11:17:05Z [8,296,100ms] [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.
+[2026-11-05T11:17:09Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-05T11:17:39Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_111852.log
+2026-11-05T11:18:52Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-05T11:18:52Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-05T11:18:52Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-05T11:18:52Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-05T11:18:52Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-05T11:18:52Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-05T11:18:52Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-05T11:18:52Z [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'
+2026-11-05T11:18:52Z [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'
+2026-11-05T11:18:52Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-05T11:18:52Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-05T11:18:52Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-05T11:18:52Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-05T11:18:52Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-05T11:18:52Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-05T11:18:52Z [66ms] [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'
+2026-11-05T11:18:52Z [69ms] [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'
+2026-11-05T11:18:57Z [4,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:18:57Z [4,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:18:57Z [4,596ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T11:18:58Z [5,146ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:18:58Z [5,147ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:18:58Z [5,148ms] [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          | Yes: 0 |     | 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          |        |     | 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: 856887
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T11:18:59Z [6,962ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T11:18:59Z [6,963ms] [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 
+     0 912.26  17.23  19.16  17.48  18.28  19.18  18.87  19.07 
+     1  20.36 922.37  18.78  20.57  19.66  19.36  19.84  19.74 
+     2  18.80  19.48 920.61  18.70  19.39  19.39  18.59  19.38 
+     3  17.62  19.11  19.80 922.37  18.76  19.77  19.74  19.16 
+     4  22.17  21.74  22.46  22.33 918.12  22.31  21.94  22.16 
+     5  19.41  22.37  20.50  22.36  22.66 921.40  21.95  22.30 
+     6  19.96  22.25  21.02  22.33  22.39  22.06 921.17  21.95 
+     7  19.45  22.24  20.54  22.16  22.44  22.29  22.28 919.59 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.50  12.01  12.10  12.27  12.44  12.52  12.70  12.45 
+     1  11.98   1.55  11.66  11.75  11.50  13.19  11.65  13.22 
+     2  12.26  11.66   1.43  12.65  14.60  11.93  15.17  11.68 
+     3  12.06  11.76  11.58   1.32  11.45  12.23  11.56  11.58 
+     4  14.26  14.23  14.50  14.15   1.43  12.10  11.91  11.80 
+     5  12.95  12.33  14.46  11.89  15.28   1.36  12.76  14.01 
+     6  12.74  12.81  12.50  12.18  13.10  13.33   1.45  12.81 
+     7  13.79  13.04  14.60  11.98  15.48  15.40  14.18   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.27   9.92  10.38   9.92  11.25  11.00  11.14  11.01 
+     1   9.99   3.21   9.51   9.46  11.20  10.85  11.00  10.86 
+     2   9.77   9.49   3.36   9.55  11.18  10.90  10.97  10.81 
+     3   9.63  11.74  11.47   2.87  10.62  10.50  10.37  10.23 
+     4  10.14  10.04  10.07   9.89   3.40  11.64  11.46  11.41 
+     5  10.00   9.84  10.05   9.60  11.46   3.40  11.41  11.28 
+     6  10.23   9.78   9.93   9.77  11.47  11.27   3.42  11.36 
+     7  10.00   9.88  10.01  10.05  11.52  11.34  11.38   3.42 
+2026-11-05T11:19:02Z [9,605ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-05T11:19:02Z [9,605ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 15.5 us.
+2026-11-05T11:19:02Z [9,605ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T11:19:06Z [13,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,182ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:06Z [13,271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,272ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:06Z [13,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,283ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:06Z [13,470ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,470ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:06Z [13,476ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,476ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:06Z [13,482ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T11:19:06Z [13,483ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T11:19:07Z [14,392ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T11:19:10Z [17,862ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T11:19:21Z [28,219ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T11:19:22Z [29,403ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T11:19:35Z [42,915ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T11:19:36Z [43,407ms] [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.
+2026-11-05T11:19:39Z [46,464ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T11:19:39Z [46,466ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T11:19:39Z [46,468ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T11:19:39Z [46,486ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T11:19:39Z [46,498ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T11:19:39Z [46,498ms] [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']
+2026-11-05T11:19:54Z [61,785ms] [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@ <0x56186a8d8930>)
+
+2026-11-05T11:19:54Z [61,787ms] [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@ <0x56186a8d8930>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 8 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T11:19:58Z [65,723ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.470018 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...
+2026-11-05T11:20:04Z [71,515ms] [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.
+2026-11-05T11:20:04Z [71,518ms] [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.
+2026-11-05T11:20:04Z [71,590ms] [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.
+2026-11-05T11:20:04Z [71,590ms] [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.
+2026-11-05T11:20:04Z [71,598ms] [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.
+2026-11-05T11:20:04Z [71,606ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T11:20:04Z [71,770ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T11:20:04Z [71,796ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T11:20:14Z [81,654ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 15.836243 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] Task `BlockStackingSpecifiedOrderTask` run `0` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` run `1` already done. Skipping.
+[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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+
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+2026-11-05T12:36:36Z [4,663,811ms] [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.
+[2026-11-05T12:36:41Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-05T12:37:41Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:1
+[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_20261105_123855.log
+2026-11-05T12:38:55Z [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/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-05T12:38:55Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
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+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-05T12:38:55Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-05T12:38:55Z [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'
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+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [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'
+2026-11-05T12:38:55Z [67ms] [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'
+2026-11-05T12:39:00Z [4,929ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:00Z [4,930ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:00Z [5,023ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-05T12:39:00Z [5,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:00Z [5,661ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:00Z [5,662ms] [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          | Yes: 0 |     | 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          |        |     | 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: 855278
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-05T12:39:02Z [7,597ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-05T12:39:02Z [7,597ms] [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 
+     0 911.73  21.95  22.05  21.78  19.94  22.07  21.85  22.42 
+     1  22.31 922.36  21.81  21.74  19.95  22.36  21.71  22.20 
+     2  22.20  22.06 920.73  22.05  20.13  22.27  21.91  22.31 
+     3  22.24  21.59  21.87 923.46  20.22  22.49  21.77  22.19 
+     4  19.93  17.91  18.49  18.29 921.20  17.46  16.83  16.51 
+     5  21.09  19.43  19.53  19.30  18.76 921.20  17.89  18.80 
+     6  19.42  19.23  17.34  18.32  17.45  15.70 922.37  17.59 
+     7  19.51  19.80  19.29  19.53  17.52  17.84  18.52 921.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  12.35  15.22  16.27  11.99  12.64  13.15  12.76 
+     1  16.28   1.54  20.51  13.20  15.63  13.18  13.59  15.70 
+     2  14.43  14.34   1.43  12.87  14.39  13.59  12.88  12.50 
+     3  12.92  15.36  11.43   1.31  12.93  14.01  13.41  14.52 
+     4  14.56  11.70  11.32  11.38   1.44  11.71  11.83  11.67 
+     5  11.45  11.47  11.54  16.89  17.56   1.37  11.61  11.40 
+     6  12.43  12.79  12.72  12.69  12.83  12.37   1.45  12.54 
+     7  12.10  11.57  12.29  11.45  11.57  11.48  11.93   1.40 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.05  13.66  11.91  11.65  10.08   9.88   9.94   9.86 
+     1  12.14   3.73  11.69  11.53   9.92   9.81  10.06   9.81 
+     2  11.92  11.51   3.84  11.76  10.83   9.99   9.94   9.89 
+     3  11.93  11.61  11.79   3.49  10.59  10.17  10.05   9.85 
+     4  10.70  12.53  10.62  10.51   2.88   8.76   8.94   8.87 
+     5  10.61  10.29  10.44  10.42   8.81   2.85   8.91   8.72 
+     6  10.65  10.55  10.69  10.48   9.04   8.72   2.94   8.83 
+     7  10.43  10.30  10.54  10.39   8.75   8.57   8.84   2.91 
+2026-11-05T12:39:05Z [10,278ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.7 GB/s.
+2026-11-05T12:39:05Z [10,279ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-05T12:39:05Z [10,279ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-05T12:39:09Z [13,912ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [13,913ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:09Z [14,011ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [14,011ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:09Z [14,021ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [14,021ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:09Z [14,215ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [14,216ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:09Z [14,221ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [14,221ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:09Z [14,227ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-05T12:39:09Z [14,227ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-05T12:39:10Z [15,178ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-05T12:39:13Z [18,734ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-05T12:39:24Z [29,422ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-05T12:39:25Z [30,609ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-05T12:39:40Z [45,110ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-05T12:39:40Z [45,605ms] [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.
+2026-11-05T12:39:43Z [48,652ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T12:39:43Z [48,653ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T12:39:43Z [48,655ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T12:39:43Z [48,674ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-05T12:39:43Z [48,689ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-05T12:39:43Z [48,689ms] [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']
+2026-11-05T12:39:58Z [63,224ms] [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@ <0x563566392170>)
+
+2026-11-05T12:39:58Z [63,226ms] [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@ <0x563566392170>)
+
+══════════════════════════════════════════════════════════════
+  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_refine_vla/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 8 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_refine_vla/gpu_1/robolab.
+[RoboLab] Task `PlasticBottlesInSquarePailTask` 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
+2026-11-05T12:40:02Z [67,261ms] [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:1
+	Environment seed      : 0
+	Physics step-size     : 0.008333333333333333
+	Rendering step-size   : 0.06666666666666667
+	Environment step-size : 0.06666666666666667
+[INFO]: Time taken for scene creation : 0.457252 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...
+2026-11-05T12:40:07Z [72,761ms] [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.
+2026-11-05T12:40:07Z [72,762ms] [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.
+2026-11-05T12:40:08Z [72,837ms] [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.
+2026-11-05T12:40:08Z [72,837ms] [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.
+2026-11-05T12:40:08Z [72,845ms] [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.
+2026-11-05T12:40:08Z [72,853ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-05T12:40:08Z [73,014ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T12:40:08Z [73,037ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-05T12:40:18Z [83,299ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+[INFO]: Time taken for simulation start : 15.986373 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] Task `BlockStackingSpecifiedOrderTask` run `0` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` run `1` already done. Skipping.
+[RoboLab] Running BlockStackingSpecifiedOrderTask_2: 'Stack the blocks in the order from bottom to top: red, blue, green, yellow' (run 2, 1 envs)
+
  0%|          | 0/1350 [00:00<?, ?it/s]
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  3%|▎         | 36/1350 [01:55<33:25,  1.53s/it]2026-11-05T12:42:16Z [201,072ms] [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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diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.episodes.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T142045.964399Z_eval.episodes.jsonl
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+INFO:jax._src.xla_bridge:Unable to initialize backend 'rocm': module 'jaxlib.xla_extension' has no attribute 'GpuAllocatorConfig'
+INFO:2026-11-04 14:21:22,017:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
+INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
+INFO:absl:orbax-checkpoint version: 0.11.13
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
+INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 542.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 11 seconds) (per-host)
+INFO:absl:Finished restoring checkpoint in 11.79 seconds from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params.
+INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping.
+INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid
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+INFO:websockets.server:server closing
+INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33744) closed
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+INFO:2026-11-04 16:08:53,353:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
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+INFO:2026-11-04 17:24:34,419:jax._src.xla_bridge:925: Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
+INFO:jax._src.xla_bridge:Unable to initialize backend 'tpu': INTERNAL: Failed to open libtpu.so: libtpu.so: cannot open shared object file: No such file or directory
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+INFO:absl:Restoring checkpoint from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/params.
+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
+INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 722.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host)
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+INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping.
+INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
+INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 679.9 MiB/s (total bytes: 6.2 GiB) (time elapsed: 9 seconds) (per-host)
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+INFO:root:Norm stats not found in /data/NTU_slab/draven/proj/codebase/third_party/openpi/assets/pi05_droid_jointpos/droid, skipping.
+INFO:root:Loaded norm stats from /data/NTU_slab/draven/.cache/openpi/openpi-assets-simeval/pi05_droid_jointpos/pi05_droid_jointpos/assets/droid
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diff --git a/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval/episode-0001/events.jsonl b/harness_robolab_exploration/embo_refine_vla/gpu_1/harness/20261104T183821.327829Z_eval/episode-0001/events.jsonl
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
+INFO:absl:[process=0] /jax/checkpoint/read/bytes_per_sec: 730.8 MiB/s (total bytes: 6.2 GiB) (time elapsed: 8 seconds) (per-host)
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+INFO:absl:[thread=MainThread] Failed to get flag value for EXPERIMENTAL_ORBAX_USE_DISTRIBUTED_PROCESS_ID.
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