diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/env_cfg.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/env_cfg.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ba9ede61d97b2a6c90902098032612fe21509d
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/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:4", "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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"ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, 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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/MustardInLeftBinTask/log_1_env0.json
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..697ba25dd93da92ba350a5bc957e8efa156b4955
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff19036b731d037a63e467bfe69f7a590ce0c5b
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+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_1_env0.json
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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 900, "events": [{"step": 61, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}, {"step": 78, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 83, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.0}, {"step": 140, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 171, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a02). advanced 1 step(s) to step 1 for whitepackerbottle_a02.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 181, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a02). regressing to step 0 for whitepackerbottle_a02.", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 336, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 349, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 351, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 407, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 422, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 423, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.089m", "score": 0.0}, {"step": 437, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 602, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 607, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 617, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 675, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a01'", "score": 0.0}, {"step": 676, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 680, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 688, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a01'", "score": 0.0}, {"step": 704, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.274m", "score": 0.0}, {"step": 714, "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": 723, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 723, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 737, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 846, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4335c87d48c7f3c906ca837d23610a235bed33
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "OneBottleInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 126, "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": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 243, "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": 245, "code": 263, 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/OneBottleInSquarePailTask/run_0.hdf5
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b635f6da3f4d89cd13a4be990fb475d66b4755c7
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
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that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1274, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.133m", "score": 0.6666666666666666}, {"step": 1292, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.118m", "score": 0.6666666666666666}, {"step": 1294, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.6666666666666666}, {"step": 1352, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1401, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1401, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1402, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.072m", "score": 0.6666666666666666}, {"step": 1490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1517, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1524, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1531, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1541, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.098m", "score": 0.6666666666666666}, {"step": 1553, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.6666666666666666}, {"step": 1561, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.6666666666666666}, {"step": 1567, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.080m", "score": 0.6666666666666666}, {"step": 1742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2ad8cb919b15540c917fb43cfb27d95d7644fd9
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 1, "success": false, "final_step": 2700, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 152, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 406, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 422, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 465, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 468, "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": 486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.107m", "score": 0.0}, {"step": 492, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a01'", "score": 0.0}, {"step": 494, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 494, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 496, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a01' displaced 0.766m", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 601, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 662, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 736, "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": 742, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 743, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 744, "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": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 779, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 780, "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": 1003, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.0}, {"step": 1007, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.054m", "score": 0.0}, {"step": 1023, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 1482, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 1482, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1518, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.148m", "score": 0.0}, {"step": 1537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.057m", "score": 0.0}, {"step": 1733, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.082m", "score": 0.0}, {"step": 1784, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1785, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1785, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1785, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=squarepail_a01, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1786, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1793, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 1810, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.3333333333333333}, {"step": 1811, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.236m", "score": 0.3333333333333333}, {"step": 1876, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 1877, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 1894, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2072, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2132, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2182, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2206, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'utilityjug_a02' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.3333333333333333}, {"step": 2207, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2221, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'utilityjug_a02'", "score": 0.3333333333333333}, {"step": 2257, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'utilityjug_a02' displaced 0.958m", "score": 0.3333333333333333}, {"step": 2371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.078m", "score": 0.3333333333333333}, {"step": 2431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.123m", "score": 0.3333333333333333}, {"step": 2445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.064m", "score": 0.3333333333333333}, {"step": 2466, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.278m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e75fb18de9e0ec989672ef08edbbac363c616c
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 2, "success": false, "final_step": 2700, "events": [{"step": 2, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "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": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 467, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 467, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 477, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 479, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 488, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.321m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.258m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a02' nudged 0.193m", "score": 0.0}, {"step": 530, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.076m", "score": 0.0}, {"step": 535, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.052m", "score": 0.0}, {"step": 596, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 597, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 601, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.094m", "score": 0.0}, {"step": 604, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 612, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.097m", "score": 0.0}, {"step": 663, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.092m", "score": 0.0}, {"step": 691, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.087m", "score": 0.0}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 843, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.116m", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 892, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 893, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 897, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.190m", "score": 0.0}, {"step": 963, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.102m", "score": 0.0}, {"step": 974, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.062m", "score": 0.0}, {"step": 997, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 998, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1013, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1015, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.146m", "score": 0.0}, {"step": 1057, "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": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 1174, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1177, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1178, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1179, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1232, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'squarepail_a01' nudged 0.172m", "score": 0.0}, {"step": 1248, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'squarepail_a01' (target objects: ['whitepackerbottle_a03', 'whitepackerbottle_a01', 'whitepackerbottle_a02'])", "score": 0.0}, {"step": 1249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'squarepail_a01'", "score": 0.0}, {"step": 1249, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1305, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1323, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1349, "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}, 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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/RedItemsInBinTask/log_2_env0.json
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{"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 0x7fe640499940>, object='sideways_white_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fe642677f60>, 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_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c69865a452a53e97d2aab42471e876af2fd6ab
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/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": 255, "events": [{"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 110, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 112, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 112, "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": 115, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 115, "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": 183, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 244, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 244, "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": 247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "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": 255, "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_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cadd40bc09c405633e7c5e3ee781919d1d836dae
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/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": 138, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.5}, {"step": 138, "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": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 151, "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": 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": 181, "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": 242, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 277, "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": 281, "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": 287, "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": 331, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.358m", "score": 0.5}, {"step": 360, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.222m", "score": 0.5}, {"step": 386, "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": 387, "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": 411, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.083m", "score": 0.5}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.116m", "score": 0.5}, {"step": 481, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.134m", "score": 0.5}, {"step": 511, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.133m", "score": 0.5}, {"step": 555, "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": 556, "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": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_sideways_white_mug'])", "score": 0.5}, {"step": 558, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 558, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 558, "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": 561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.096m", "score": 0.0}, {"step": 579, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.167m", "score": 0.0}, {"step": 582, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'sideways_white_mug' nudged 0.231m", "score": 0.0}, {"step": 596, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'sideways_white_mug'", "score": 0.0}, {"step": 604, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_4/robolab/ReorientWhiteMugsTask/log_2_env0.json
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+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2d6fb8858ad94492bdf69e3d4d34673d-2 (codex/gpt-6-astra) ended: wall=1244.941s harness=954.804s tokens=9223290 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d22ecbee17b0483ab7fc72bbe424c3ea-0 (codex/gpt-6-astra) ended: wall=591.669s harness=459.615s tokens=4949937 usage_complete=True decisions=36 executed_steps=526 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a28e4d5c45bf4b67b105eeb978428384-1 (codex/gpt-6-astra) ended: wall=573.500s harness=412.921s tokens=3494146 usage_complete=True decisions=43 executed_steps=631 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 39ff01df7ae24838b8514049c65eea25-2 (codex/gpt-6-astra) ended: wall=430.563s harness=319.652s tokens=2922890 usage_complete=True decisions=31 executed_steps=451 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9e955d94fc394bfa8180c23e240903ed-0 (codex/gpt-6-astra) ended: wall=1035.953s harness=825.309s tokens=8782360 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 84ab794966e74a4a9b4c09e29ec0ebcc-1 (codex/gpt-6-astra) ended: wall=1188.359s harness=984.531s tokens=9040071 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e7bfc9848ca94b8aa792ea4cfb4dcfc8-2 (codex/gpt-6-astra) ended: wall=764.308s harness=572.912s tokens=5500546 usage_complete=True decisions=60 executed_steps=900 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8adb4f6d4ce0431380c835f757121523-0 (codex/gpt-6-astra) ended: wall=401.492s harness=310.347s tokens=2782825 usage_complete=True decisions=30 executed_steps=450 steps_complete=True network_wait=19.838409312069416 rate_limit_wait=0 rate_limit_count=0 excluded=19.838409312069416 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b8b92d5915534df3a95250e812495330-1 (codex/gpt-6-astra) ended: wall=212.707s harness=166.757s tokens=1443651 usage_complete=True decisions=15 executed_steps=211 steps_complete=True network_wait=74.42016261070967 rate_limit_wait=0 rate_limit_count=0 excluded=74.42016261070967 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a0daa74f94eb4211a26e21d5b012174b-2 (codex/gpt-6-astra) ended: wall=469.769s harness=375.142s tokens=2587348 usage_complete=True decisions=30 executed_steps=450 steps_complete=True network_wait=19.91752351075411 rate_limit_wait=0 rate_limit_count=0 excluded=19.91752351075411 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1b32d9d4abb2439fba5c749b116777eb-0 (codex/gpt-6-astra) ended: wall=260.197s harness=222.902s tokens=1983290 usage_complete=True decisions=12 executed_steps=178 steps_complete=True network_wait=79.94388269633055 rate_limit_wait=0 rate_limit_count=0 excluded=79.94388269633055 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2700bc269f5f4a80885e4a57a8836260-1 (codex/gpt-6-astra) ended: wall=368.996s harness=322.635s tokens=2464838 usage_complete=True decisions=16 executed_steps=228 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c6223c683b184a40b3920c8e8b85118c-2 (codex/gpt-6-astra) ended: wall=358.107s harness=300.074s tokens=2238375 usage_complete=True decisions=20 executed_steps=300 steps_complete=True network_wait=77.17071159183979 rate_limit_wait=0 rate_limit_count=0 excluded=77.17071159183979 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_4/harness/20261028T143501.680089Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 54904) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/client.log b/harness_robolab_exploration/embo_joint_delta/gpu_5/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..1448f40fbca6effe9aeeeee557a18cbb22496456
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/client.log
@@ -0,0 +1,2002 @@
+[2026-10-28T14:34:58Z] GPU 5: Starting worker at FruitsOnionToPlateTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:5
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261028_143504.log
+2026-10-28T14:35:04Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-10-28T14:35:10Z [5,834ms] [Warning] [carb.omniclient.plugin]  1518122: OmniHub: ThreadId(03) Hub encountered error. Trying to reconnect to Hub. retry_reason="Hub failed to launch: Io(\"Resource temporarily unavailable (os error 11)\")"
+2026-10-28T14:35:10Z [6,152ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:10Z [6,152ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:10Z [6,282ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-10-28T14:35:12Z [7,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:12Z [7,601ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:12Z [7,602ms] [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: 715645
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-10-28T14:35:15Z [11,391ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-10-28T14:35:15Z [11,391ms] [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 
+     0 913.58  22.18  20.01  21.85   5.09  19.90   7.82  12.56 
+     1  19.55 920.25  21.97  22.07  17.53   8.19   3.79  13.33 
+     2  22.34  19.82 935.07  21.51  19.72  20.14  21.62   4.33 
+     3  19.93  18.20  14.34 906.85  14.94   7.47  11.08  10.63 
+     4  11.34  14.11  13.89  12.99 889.39  11.32  10.83   4.67 
+     5  13.72  13.59  16.40  15.66  14.89 880.78  15.16  15.13 
+     6  15.45  16.20  13.48  11.78   8.26   5.30 889.30  13.21 
+     7  12.30  12.18  15.49  15.64  14.26  13.68   5.65 879.29 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.35  15.45  41.13  15.16  11.45  19.43  11.92 2097.36 
+     1  37.05   1.46  16.69  17.88  32.27  18.13  34.29 218.30 
+     2  29.71  11.14   1.38  26.84  41.70  27.23  27.99  29.66 
+     3 213.51  29.79  15.53   1.41  26.86  13.64  11.47  11.56 
+     4 271.84 317.25 208.97 199.51   1.73  28.63 199.35 217.98 
+     5  11.51  15.36  29.28 235.18  27.24   1.39  11.52  11.34 
+     6  11.40  11.51  15.14 167.56 2140.60  16.63   1.39  25.32 
+     7  15.69  15.06  17.86  16.98 1286.22  29.42  11.36   1.42 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.07   9.87   9.40   9.25   8.32   8.31   8.22   8.31 
+     1   9.89   2.88   9.56   9.55   8.61   8.52   8.43   9.10 
+     2   9.92   9.47   2.88   9.40   8.85   8.84   8.32   8.73 
+     3   9.46   9.53   9.50   2.85   8.82   9.63   8.36   8.89 
+     4   9.99   8.83   9.03   8.78   2.75   8.90   8.70   8.07 
+     5   8.91   8.65   8.91   8.80   8.02   2.59   7.78   7.96 
+     6   8.85   8.58   8.74   8.60  10.05   8.25   2.68   7.92 
+     7   8.69   8.65   8.75   8.70   8.00   8.57   7.90   2.65 
+2026-10-28T14:35:20Z [16,454ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 3.8 GB/s.
+2026-10-28T14:35:20Z [16,455ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 2140.6 us.
+2026-10-28T14:35:20Z [16,455ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-10-28T14:35:23Z [19,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:23Z [19,454ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,786ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,799ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,799ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,990ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,991ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [19,996ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [19,996ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:24Z [20,000ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-28T14:35:24Z [20,000ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-28T14:35:25Z [20,947ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-10-28T14:35:29Z [24,611ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-10-28T14:35:39Z [35,086ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-10-28T14:35:40Z [36,181ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-10-28T14:35:55Z [50,838ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-10-28T14:35:55Z [51,273ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-10-28T14:35:59Z [55,322ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,323ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,323ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:35:59Z [55,338ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-10-28T14:35:59Z [55,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-10-28T14:35:59Z [55,491ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 11 task(s): ['FruitsOnionToPlateTask', 'MarkerInMugTask', 'SmallPumpkinInBinTask', 'SpoonInMugTask', 'TakeSpatulaOffShelfTask', 'ReorientRedMugTask', 'FoodPacking1BoxesTask', 'BananasInBinThreeTotalTask', 'RubiksCubeThenBananaTask', 'FoodPacking1CansTask', 'BananaInBowlTask']
+2026-10-28T14:36:17Z [72,744ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/collisions>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_2> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/collisions> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b3b2e305b0>)
+
+2026-10-28T14:36:17Z [72,745ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x55b3b2e305b0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask
+  Environments   : FruitsOnionToPlateTask, MarkerInMugTask, SmallPumpkinInBinTask, SpoonInMugTask, TakeSpatulaOffShelfTask, ReorientRedMugTask, FoodPacking1BoxesTask, BananasInBinThreeTotalTask, RubiksCubeThenBananaTask, FoodPacking1CansTask, BananaInBowlTask
+  Num Tasks      : 11
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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
+2026-10-28T14:36:29Z [84,643ms] [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: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 : 2.434494 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T14:36:35Z [90,907ms] [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.
+2026-10-28T14:36:35Z [90,907ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T14:36:35Z [90,943ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T14:36:35Z [90,944ms] [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.
+2026-10-28T14:36:35Z [90,954ms] [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.
+2026-10-28T14:36:35Z [90,962ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T14:36:35Z [91,250ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:35Z [91,275ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-10-28T14:36:39Z [95,185ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,185ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,205ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,205ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,205ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,223ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:39Z [95,224ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:40Z [96,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:40Z [96,314ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:40Z [96,315ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:42Z [98,013ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-10-28T14:36:42Z [98,013ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-10-28T14:36:43Z [99,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-10-28T14:36:43Z [99,442ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-10-28T14:36:43Z [99,457ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-28T14:36:43Z [99,457ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-28T14:36:44Z [100,497ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-10-28T14:36:44Z [100,497ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-10-28T14:36:44Z [100,497ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,068ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-10-28T14:36:45Z [101,404ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,404ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((69))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,405ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,405ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,406ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,406ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((74))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,408ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,408ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,408ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,410ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,413ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,413ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,414ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,414ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,421ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,421ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-10-28T14:36:45Z [101,421ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.458525 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FruitsOnionToPlateTask                        │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the onion on the plate                    │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FruitsOnionToPlateTaskSceneEnvCfg             │
+│  Attributes  : semantics, vague, simple                      │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FruitsOnionToPlateTask_0: 'Put the onion on the plate' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -7.7302864561617195, 'joint_sparc_mean': -13.6306171504774, 'ee_isj': 1371.2959904173517, 'joint_isj': 24914.943532628524, 'ee_path_length': 5.041883314221422, 'joint_rmse_mean': 1.7184288909912868, 'ee_speed_max': 0.38343533873558044, 'ee_speed_mean': 0.08165580034255981}, events: {'OBJECT_BUMPED': 6, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 8, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'wrong_objects_grabbed': ['wooden_bowl', 'wooden_bowl', 'wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 1224.163, 'policy_inference_avg_ms': 1360.2, 'env_step_s': 562.085, 'env_step_avg_ms': 624.5, 'video_write_s': 6.66, 'video_write_avg_ms': 7.4, 'wall_total_s': 1792.908, 'it_per_sec': 0.5}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: f422bd2201f240f6aa995528b425c128-0
+[RoboLab] Running FruitsOnionToPlateTask_1: 'Put the onion on the plate' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -7.042313887512196, 'joint_sparc_mean': -10.820124385366553, 'ee_isj': 1424.5890852028178, 'joint_isj': 46390.58906218318, 'ee_path_length': 6.505035370902798, 'joint_rmse_mean': 1.5149614874282273, 'ee_speed_max': 0.5105900168418884, 'ee_speed_mean': 0.10294090211391449}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 7, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'TARGET_OBJECT_DROPPED': 4, 'wrong_objects_grabbed': ['orange_02', 'orange_02']}, instruction_type: default, timing: {'policy_inference_s': 730.678, 'policy_inference_avg_ms': 811.9, 'env_step_s': 562.936, 'env_step_avg_ms': 625.5, 'video_write_s': 6.787, 'video_write_avg_ms': 7.5, 'wall_total_s': 1300.402, 'it_per_sec': 0.69}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: bf8bc1e691f849f0ad1c43516b97e271-1
+[RoboLab] Running FruitsOnionToPlateTask_2: 'Put the onion on the plate' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -7.253573035320782, 'joint_sparc_mean': -8.397453052152601, 'ee_isj': 819.9105664970697, 'joint_isj': 30086.75856121953, 'ee_path_length': 3.152419939202889, 'joint_rmse_mean': 1.582565329233616, 'ee_speed_max': 0.8316209316253662, 'ee_speed_mean': 0.0506771057844162}, events: {'OBJECT_BUMPED': 9, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'TARGET_OBJECT_DROPPED': 3, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_HIT_TABLE': 4}, instruction_type: default, timing: {'policy_inference_s': 504.734, 'policy_inference_avg_ms': 560.8, 'env_step_s': 562.799, 'env_step_avg_ms': 625.3, 'video_write_s': 6.613, 'video_write_avg_ms': 7.3, 'wall_total_s': 1074.146, 'it_per_sec': 0.84}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: e2e824e685b044e4b9f269d81d2eaff1-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T15:47:06Z [4,321,811ms] [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 : 2.184670 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T15:47:11Z [4,327,203ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T15:47:11Z [4,327,203ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:47:11Z [4,327,212ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T15:47:11Z [4,327,212ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:47:11Z [4,327,220ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T15:47:11Z [4,327,227ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T15:47:11Z [4,327,326ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T15:47:12Z [4,327,625ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,625ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,749ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,750ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,758ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,758ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,790ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,790ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,822ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,822ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,864ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,864ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,952ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,952ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,980ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,997ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,327,997ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,074ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,074ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,167ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,168ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,480ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((488))' not available in the MDL representation.
+2026-10-28T15:47:12Z [4,328,481ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((488))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,328,543ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,328,544ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,328,544ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,328,762ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((524))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,328,762ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((524))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,308ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((306))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,310ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,310ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((324))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,310ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,311ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((328))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,312ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,312ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((346))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,312ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,313ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((351))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,314ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((364))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,314ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((371))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,315ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,315ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((372))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,316ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,316ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((381))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,316ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,317ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,318ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,318ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((412))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,322ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((488))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,322ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((488))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,323ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,324ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,324ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((504))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,326ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((524))' not available in the MDL representation.
+2026-10-28T15:47:13Z [4,329,326ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((524))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.464890 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : MarkerInMugTask                               │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the whiteboard marker in the mug          │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : MarkerInMugTaskSceneEnvCfg                    │
+│  Attributes  : affordance, moderate                          │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running MarkerInMugTask_0: 'Put the whiteboard marker in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_0_env0.json.
+MarkerInMugTask_0 complete: task_name: MarkerInMugTask, run_name: MarkerInMugTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the whiteboard marker in the mug, attributes: ['affordance', 'moderate'], success: False, episode_step: 600, duration: 40.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.119826833080758, 'joint_sparc_mean': -8.64609438599087, 'ee_isj': 4671.846006800116, 'joint_isj': 232215.31305357133, 'ee_path_length': 6.584932765327778, 'joint_rmse_mean': 1.8188091546513603, 'ee_speed_max': 0.9257184863090515, 'ee_speed_mean': 0.15782931447029114}, events: {'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'OBJECT_BUMPED': 2}, instruction_type: default, timing: {'policy_inference_s': 850.781, 'policy_inference_avg_ms': 1418.0, 'env_step_s': 320.128, 'env_step_avg_ms': 533.5, 'video_write_s': 4.686, 'video_write_avg_ms': 7.8, 'wall_total_s': 1175.594, 'it_per_sec': 0.51}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: 44da8119df9148d0a1a0b6b6d9bcf2fa-0
+[RoboLab] Running MarkerInMugTask_1: 'Put the whiteboard marker in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -5.881212586289567, 'joint_sparc_mean': -8.343894383210529, 'ee_isj': 950.2786378695685, 'joint_isj': 135745.7868596575, 'ee_path_length': 3.3918945491632115, 'joint_rmse_mean': 1.6477048063499675, 'ee_speed_max': 0.4064609706401825, 'ee_speed_mean': 0.083270363509655}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 810.691, 'policy_inference_avg_ms': 1351.2, 'env_step_s': 316.736, 'env_step_avg_ms': 527.9, 'video_write_s': 5.131, 'video_write_avg_ms': 8.6, 'wall_total_s': 1132.558, 'it_per_sec': 0.53}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=marker) (step 1/2), harness_episode_id: cdc955dcf98b4a0fab3d22cecac7453d-1
+[RoboLab] Running MarkerInMugTask_2: 'Put the whiteboard marker in the mug' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 451, duration: 30.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.450138211501985, 'joint_sparc_mean': -7.299140956698204, 'ee_isj': 1369.2028914547282, 'joint_isj': 71299.1207059412, 'ee_path_length': 3.8753812372551595, 'joint_rmse_mean': 1.4948738415327498, 'ee_speed_max': 0.6980225443840027, 'ee_speed_mean': 0.12100539356470108}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 8, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 698.402, 'policy_inference_avg_ms': 1548.6, 'env_step_s': 243.917, 'env_step_avg_ms': 540.8, 'video_write_s': 4.136, 'video_write_avg_ms': 9.2, 'wall_total_s': 946.455, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f22b0e0b99df40a68cfba637f779ba12-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T16:42:41Z [7,656,958ms] [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 : 2.239606 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T16:42:46Z [7,661,511ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-10-28T16:42:46Z [7,661,622ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:42:46Z [7,661,622ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:42:46Z [7,661,631ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T16:42:46Z [7,661,631ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:42:46Z [7,661,639ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T16:42:46Z [7,661,646ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T16:42:46Z [7,661,958ms] [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((543))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,661,958ms] [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((543))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,075ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,075ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,075ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,173ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,173ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,173ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,205ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((614))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,206ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((614))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,279ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,280ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,417ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((664))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,417ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((664))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,434ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((674))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,463ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,463ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,484ms] [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((689))' not available in the MDL representation.
+2026-10-28T16:42:46Z [7,662,485ms] [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((689))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,662,780ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,662,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,662,781ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,662,816ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((802))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,662,816ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((802))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,379ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,380ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,380ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((571))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,383ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,383ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,383ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((602))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,384ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((614))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,384ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((614))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,387ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,387ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,387ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,390ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((664))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,391ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((664))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,392ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,392ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((678))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,400ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,400ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+2026-10-28T16:42:47Z [7,663,400ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((787))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.358308 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SmallPumpkinInBinTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the small pumpkin in the bin              │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SmallPumpkinInBinTaskSceneEnvCfg              │
+│  Attributes  : size, simple                                  │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SmallPumpkinInBinTask_0: 'Put the small pumpkin in the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 406, duration: 27.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.308353688924331, 'joint_sparc_mean': -5.77572061977057, 'ee_isj': 577.3698160797571, 'joint_isj': 6972.704114702317, 'ee_path_length': 3.137892974198979, 'joint_rmse_mean': 1.5041943086942506, 'ee_speed_max': 0.8673437237739563, 'ee_speed_mean': 0.11185487359762192}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 329.461, 'policy_inference_avg_ms': 811.5, 'env_step_s': 280.626, 'env_step_avg_ms': 691.2, 'video_write_s': 3.258, 'video_write_avg_ms': 8.0, 'wall_total_s': 613.344, 'it_per_sec': 0.66}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b121c80a6da646ab893e55d035481d76-0
+[RoboLab] Running SmallPumpkinInBinTask_1: 'Put the small pumpkin in the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.895919339414165, 'joint_sparc_mean': -15.815270014677283, 'ee_isj': 1030.7384769965652, 'joint_isj': 28329.439418047365, 'ee_path_length': 4.65273032633238, 'joint_rmse_mean': 1.5078724201356266, 'ee_speed_max': 0.40523621439933777, 'ee_speed_mean': 0.07532521337270737}, events: {'OBJECT_BUMPED': 3, 'GRIPPER_HIT_OBJECT': 3, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 11, 'TARGET_OBJECT_DROPPED': 16, 'MULTIPLE_OBJECTS_GRABBED': 1, 'wrong_objects_grabbed': ['whitepackerbottle_a01', 'pumpkinlarge', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 1162.787, 'policy_inference_avg_ms': 1292.0, 'env_step_s': 614.014, 'env_step_avg_ms': 682.2, 'video_write_s': 8.024, 'video_write_avg_ms': 8.9, 'wall_total_s': 1784.825, 'it_per_sec': 0.5}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=pumpkinsmall) (step 1/2), harness_episode_id: 60174e28de2d45188fb133fb28cbec97-1
+[RoboLab] Running SmallPumpkinInBinTask_2: 'Put the small pumpkin in the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 331, duration: 22.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.841536248956905, 'joint_sparc_mean': -7.201729851582847, 'ee_isj': 403.73933044030116, 'joint_isj': 8955.267285122864, 'ee_path_length': 2.1622964616077263, 'joint_rmse_mean': 1.4852167539414995, 'ee_speed_max': 0.26965633034706116, 'ee_speed_mean': 0.09390191733837128}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 439.032, 'policy_inference_avg_ms': 1326.4, 'env_step_s': 223.11, 'env_step_avg_ms': 674.0, 'video_write_s': 3.468, 'video_write_avg_ms': 10.5, 'wall_total_s': 665.611, 'it_per_sec': 0.5}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f5e57d49e0394eb5b08b6f4185e3fc31-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T17:34:39Z [10,774,707ms] [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 : 2.220603 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T17:34:45Z [10,780,840ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:34:45Z [10,780,840ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:34:45Z [10,780,848ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T17:34:45Z [10,780,849ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:34:45Z [10,780,856ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T17:34:45Z [10,780,863ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T17:34:46Z [10,781,555ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,555ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,558ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,558ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,584ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,585ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,585ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,620ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,621ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,633ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((939))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,633ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((939))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,638ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((941))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,638ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((941))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,643ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,644ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,729ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,729ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,744ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,744ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,769ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((984))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,769ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((984))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,875ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((1025))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((1025))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((1027))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,781,880ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((1027))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,469ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,469ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,470ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,470ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((926))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,471ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,471ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,471ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((930))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,472ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,472ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((934))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,472ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((939))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,472ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((939))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,473ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((941))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,473ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((941))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,473ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,474ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((943))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,477ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,477ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((966))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,477ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,478ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((970))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,479ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((984))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,479ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((984))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,481ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((1025))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,481ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((1025))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,481ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((1027))' not available in the MDL representation.
+2026-10-28T17:34:46Z [10,782,481ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((1027))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.680556 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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: 421, duration: 28.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.214912513109286, 'joint_sparc_mean': -5.520520105052663, 'ee_isj': 116.40546692699621, 'joint_isj': 2524.521288969101, 'ee_path_length': 1.7547500449219164, 'joint_rmse_mean': 1.2363854823337224, 'ee_speed_max': 0.13137255609035492, 'ee_speed_mean': 0.05924054607748985}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 305.935, 'policy_inference_avg_ms': 726.7, 'env_step_s': 201.742, 'env_step_avg_ms': 479.2, 'video_write_s': 4.018, 'video_write_avg_ms': 9.5, 'wall_total_s': 511.695, 'it_per_sec': 0.82}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6817849fddec4d1cb0b1f3913d459ecf-0
+[RoboLab] Running SpoonInMugTask_1: 'Put the metal spoon that's in the wooden bowl in the mug' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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: True, episode_step: 301, duration: 20.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.7793725861609135, 'joint_sparc_mean': -4.7680853208964615, 'ee_isj': 921.4265136399098, 'joint_isj': 15820.800187104225, 'ee_path_length': 3.1815983130149137, 'joint_rmse_mean': 1.2304004793420258, 'ee_speed_max': 0.518720805644989, 'ee_speed_mean': 0.14961321651935577}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 325.133, 'policy_inference_avg_ms': 1080.2, 'env_step_s': 145.945, 'env_step_avg_ms': 484.9, 'video_write_s': 3.103, 'video_write_avg_ms': 10.3, 'wall_total_s': 474.18, 'it_per_sec': 0.63}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5dea62c4b9c0461994b7d68013fa754f-1
+[RoboLab] Running SpoonInMugTask_2: 'Put the metal spoon that's in the wooden bowl in the mug' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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': -7.45457339567108, 'joint_sparc_mean': -10.26851886085324, 'ee_isj': 1262.9132398023362, 'joint_isj': 37616.99714248804, 'ee_path_length': 5.701880150667634, 'joint_rmse_mean': 1.2840402926477397, 'ee_speed_max': 0.2666621506214142, 'ee_speed_mean': 0.09246735274791718}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 11, 'WRONG_OBJECT_GRABBED': 12, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['wooden_bowl', 'wooden_bowl', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars', 'granola_bars']}, instruction_type: default, timing: {'policy_inference_s': 1917.975, 'policy_inference_avg_ms': 2131.1, 'env_step_s': 432.737, 'env_step_avg_ms': 480.8, 'video_write_s': 8.115, 'video_write_avg_ms': 9.0, 'wall_total_s': 2358.827, 'it_per_sec': 0.38}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: dcba4ddb4b6e4ccaa6706521e074b198-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T18:31:30Z [14,185,805ms] [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 : 0.248913 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T18:31:34Z [14,189,699ms] [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.
+2026-10-28T18:31:34Z [14,189,699ms] [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.
+2026-10-28T18:31:34Z [14,189,709ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T18:31:34Z [14,189,709ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:31:34Z [14,189,717ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T18:31:34Z [14,189,724ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T18:31:35Z [14,190,834ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,190,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,165ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,166ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,388ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,389ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((1202))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,394ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1204))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,394ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1204))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,416ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,417ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,417ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,465ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,465ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:35Z [14,191,465ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,396ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,397ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,397ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,462ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,463ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+2026-10-28T18:31:37Z [14,193,463ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,418ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,418ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1166))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,421ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,421ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1195))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,422ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1204))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,422ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1204))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,423ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,423ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,424ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((1210))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,425ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,426ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,426ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((1228))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,430ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,431ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,431ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((1287))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,432ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,432ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+2026-10-28T18:31:39Z [14,195,432ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((1296))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.503907 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_0_env0.json.
+TakeSpatulaOffShelfTask_0 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_0, run: 0, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.92745817213965, 'joint_sparc_mean': -16.232922731834247, 'ee_isj': 3305.137307390332, 'joint_isj': 640523.6772638232, 'ee_path_length': 5.255321442627261, 'joint_rmse_mean': 1.557122565978719, 'ee_speed_max': 0.45839622616767883, 'ee_speed_mean': 0.0888596773147583}, events: {'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_FULLY_CLOSED': 15, 'WRONG_OBJECT_GRABBED': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 1, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['fork_small', 'fork_small', 'fork_small', 'fork_small']}, instruction_type: default, timing: {'policy_inference_s': 1889.003, 'policy_inference_avg_ms': 2098.9, 'env_step_s': 274.774, 'env_step_avg_ms': 305.3, 'video_write_s': 7.708, 'video_write_avg_ms': 8.6, 'wall_total_s': 2171.484, 'it_per_sec': 0.41}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: da7dedb96a1d45fb893ddab9ebe88ecd-0
+[RoboLab] Running TakeSpatulaOffShelfTask_1: 'Take the spatula off the shelf and put it on the table' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -10.671620884798033, 'joint_sparc_mean': -22.210363858692265, 'ee_isj': 6511.281042894534, 'joint_isj': 361312.58380576933, 'ee_path_length': 6.611888281113564, 'joint_rmse_mean': 1.4630798318093308, 'ee_speed_max': 0.6835567355155945, 'ee_speed_mean': 0.11370696127414703}, events: {'OBJECT_BUMPED': 12, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_OBJECT': 3, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['fork_small', 'wireshelving_a01']}, instruction_type: default, timing: {'policy_inference_s': 971.92, 'policy_inference_avg_ms': 1079.9, 'env_step_s': 270.143, 'env_step_avg_ms': 300.2, 'video_write_s': 8.245, 'video_write_avg_ms': 9.2, 'wall_total_s': 1250.308, 'it_per_sec': 0.72}, score: 1.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: dde880a2fcd44a75a810879fffbcc4bc-1
+[RoboLab] Running TakeSpatulaOffShelfTask_2: 'Take the spatula off the shelf and put it on the table' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 547, duration: 36.46666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.653259574656441, 'joint_sparc_mean': -13.149681053152799, 'ee_isj': 1022.5410220248382, 'joint_isj': 134113.9126334549, 'ee_path_length': 3.150422952282295, 'joint_rmse_mean': 1.5236032291853159, 'ee_speed_max': 0.3873378038406372, 'ee_speed_mean': 0.08626952022314072}, events: {'GRIPPER_FULLY_CLOSED': 7, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'wireshelving_a01', 'fork_small', 'fork_small']}, instruction_type: default, timing: {'policy_inference_s': 581.962, 'policy_inference_avg_ms': 1063.9, 'env_step_s': 165.745, 'env_step_avg_ms': 303.0, 'video_write_s': 6.053, 'video_write_avg_ms': 11.1, 'wall_total_s': 753.76, 'it_per_sec': 0.73}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 245f26ef9284408cbf4e4f6ca665b86a-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T19:42:46Z [18,461,843ms] [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 : 0.226017 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T19:42:50Z [18,465,634ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:42:50Z [18,465,634ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:42:50Z [18,465,642ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T19:42:50Z [18,465,643ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:42:50Z [18,465,650ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T19:42:50Z [18,465,657ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T19:42:50Z [18,466,341ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1415))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,342ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1415))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,388ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,388ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,419ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1446))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,419ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1446))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,428ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1450))' not available in the MDL representation.
+2026-10-28T19:42:50Z [18,466,428ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1450))' not available in the MDL representation.
+2026-10-28T19:42:51Z [18,466,632ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1459))' not available in the MDL representation.
+2026-10-28T19:42:51Z [18,466,632ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1459))' not available in the MDL representation.
+2026-10-28T19:42:51Z [18,466,819ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1472))' not available in the MDL representation.
+2026-10-28T19:42:51Z [18,466,820ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1472))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,972ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1415))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,972ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((1415))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,974ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,974ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((1435))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,975ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1446))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,975ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((1446))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,976ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1450))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,976ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((1450))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,977ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1459))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,977ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((1459))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,978ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1472))' not available in the MDL representation.
+2026-10-28T19:42:52Z [18,467,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((1472))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.019236 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientRedMugTask                            │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the red mug upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientRedMugTaskSceneEnvCfg                 │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientRedMugTask_0: 'Put the red mug upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 183, duration: 12.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.578208083935626, 'joint_sparc_mean': -6.7999604358874075, 'ee_isj': 319.6511950666883, 'joint_isj': 9671.823185453146, 'ee_path_length': 0.970859221017177, 'joint_rmse_mean': 1.6425614985164627, 'ee_speed_max': 0.2148808240890503, 'ee_speed_mean': 0.07657758891582489}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 186.056, 'policy_inference_avg_ms': 1016.7, 'env_step_s': 52.232, 'env_step_avg_ms': 285.4, 'video_write_s': 2.387, 'video_write_avg_ms': 13.0, 'wall_total_s': 240.675, 'it_per_sec': 0.76}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: c3412c873bd24299b5e8bdefd9b26701-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 285, duration: 19.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.961981686668054, 'joint_sparc_mean': -6.99117650628891, 'ee_isj': 756.8404668902409, 'joint_isj': 59498.479901540435, 'ee_path_length': 2.085218194549339, 'joint_rmse_mean': 1.8481687275186451, 'ee_speed_max': 0.5482125878334045, 'ee_speed_mean': 0.11245203018188477}, events: {'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 2, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 1, 'OBJECT_OUT_OF_SCENE': 1, 'wrong_objects_grabbed': ['red_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 338.861, 'policy_inference_avg_ms': 1189.0, 'env_step_s': 78.494, 'env_step_avg_ms': 275.4, 'video_write_s': 3.027, 'video_write_avg_ms': 10.6, 'wall_total_s': 420.382, 'it_per_sec': 0.68}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: acd9dcad562e4c5fbbae68de9d1b0d89-1
+[RoboLab] Running ReorientRedMugTask_2: 'Put the red mug upright so that the opening is facing upwards.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 590, duration: 39.333333333333336, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.782754607746495, 'joint_sparc_mean': -9.369321893264997, 'ee_isj': 368.3287670862046, 'joint_isj': 6805.706570922148, 'ee_path_length': 2.3808625763139672, 'joint_rmse_mean': 1.7831181303587478, 'ee_speed_max': 0.19956624507904053, 'ee_speed_mean': 0.05652805417776108}, events: {'GRIPPER_FULLY_CLOSED': 11, 'WRONG_OBJECT_GRABBED': 7, 'GRIPPER_HIT_OBJECT': 2, 'OBJECT_BUMPED': 7, 'wrong_objects_grabbed': ['red_mug', 'upright_white_mug', 'upright_white_mug', 'red_mug', 'red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 669.014, 'policy_inference_avg_ms': 1133.9, 'env_step_s': 162.744, 'env_step_avg_ms': 275.8, 'video_write_s': 6.671, 'video_write_avg_ms': 11.3, 'wall_total_s': 838.429, 'it_per_sec': 0.7}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 1b8465667d4d4f69a8db395125806b23-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:08:31Z [20,007,220ms] [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 : 0.188833 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:08:33Z [20,009,407ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:08:33Z [20,009,407ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:08:33Z [20,009,415ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:08:33Z [20,009,415ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:08:33Z [20,009,423ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:08:33Z [20,009,430ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:08:34Z [20,009,806ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1662))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,009,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1662))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,009,896ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1703))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,009,897ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1703))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,009,914ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1709))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,009,914ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1709))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,010,148ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1798))' not available in the MDL representation.
+2026-10-28T20:08:34Z [20,010,148ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1798))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,677ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1662))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,677ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((1662))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,680ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1703))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,680ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((1703))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,681ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1709))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,681ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((1709))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,688ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1798))' not available in the MDL representation.
+2026-10-28T20:08:35Z [20,010,689ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((1798))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.381108 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_0_env0.json.
+FoodPacking1BoxesTask_0 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_0, run: 0, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.6496396780437514, 'joint_sparc_mean': -9.581648316254789, 'ee_isj': 2085.959479552218, 'joint_isj': 73305.44056005133, 'ee_path_length': 6.8982970957969245, 'joint_rmse_mean': 1.521926429887745, 'ee_speed_max': 0.5857335329055786, 'ee_speed_mean': 0.11060894280672073}, events: {'GRIPPER_FULLY_CLOSED': 9, 'TARGET_OBJECT_DROPPED': 7, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'wrong_objects_grabbed': ['tomato_soup_can']}, instruction_type: default, timing: {'policy_inference_s': 778.642, 'policy_inference_avg_ms': 865.2, 'env_step_s': 184.143, 'env_step_avg_ms': 204.6, 'video_write_s': 8.269, 'video_write_avg_ms': 9.2, 'wall_total_s': 971.053, 'it_per_sec': 0.93}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: 24c21f7693ab43f98d61a978ce3de20b-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -7.590087406368543, 'joint_sparc_mean': -8.918222521086665, 'ee_isj': 4785.027055791006, 'joint_isj': 58143.21351899308, 'ee_path_length': 9.305149055299625, 'joint_rmse_mean': 1.929836049357323, 'ee_speed_max': 0.7451713681221008, 'ee_speed_mean': 0.1469743847846985}, events: {'GRIPPER_FULLY_CLOSED': 9, 'TARGET_OBJECT_DROPPED': 13, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 802.659, 'policy_inference_avg_ms': 891.8, 'env_step_s': 184.494, 'env_step_avg_ms': 205.0, 'video_write_s': 9.118, 'video_write_avg_ms': 10.1, 'wall_total_s': 996.271, 'it_per_sec': 0.9}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: bade3226e0b2409e8a2bbe9379c6418d-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.354815677034578, 'joint_sparc_mean': -10.094851562024038, 'ee_isj': 2139.977952031435, 'joint_isj': 36314.4363281463, 'ee_path_length': 6.2880120866870515, 'joint_rmse_mean': 1.838424495854596, 'ee_speed_max': 0.50568687915802, 'ee_speed_mean': 0.10670099407434464}, events: {'GRIPPER_FULLY_CLOSED': 11, 'TARGET_OBJECT_DROPPED': 16, 'OBJECT_BUMPED': 2}, instruction_type: default, timing: {'policy_inference_s': 635.356, 'policy_inference_avg_ms': 706.0, 'env_step_s': 183.405, 'env_step_avg_ms': 203.8, 'video_write_s': 7.905, 'video_write_avg_ms': 8.8, 'wall_total_s': 826.666, 'it_per_sec': 1.09}, score: 0.0, reason: Condition not satisfied: object_in_container(object=cheez_it, container=bin_a06, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: 17330f86edb74c8885b6518fccf3d406-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T20:56:05Z [22,861,427ms] [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 : 0.202084 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T20:56:09Z [22,865,498ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:56:09Z [22,865,499ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:56:10Z [22,865,568ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T20:56:10Z [22,865,568ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:56:10Z [22,865,632ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T20:56:10Z [22,865,700ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T20:56:11Z [22,867,021ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1999))' not available in the MDL representation.
+2026-10-28T20:56:11Z [22,867,022ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1999))' not available in the MDL representation.
+2026-10-28T20:56:12Z [22,867,902ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1999))' not available in the MDL representation.
+2026-10-28T20:56:12Z [22,867,903ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((1999))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.381038 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananasInBinThreeTotalTask                    │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure there are 3 (three) bananas in the grey bin. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananasInBinThreeTotalTaskSceneEnvCfg         │
+│  Attributes  : semantics, counting, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananasInBinThreeTotalTask_0: 'Make sure there are 3 (three) bananas in the grey bin.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 382, duration: 25.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.566755462428527, 'joint_sparc_mean': -8.231030061266798, 'ee_isj': 474.96677092915644, 'joint_isj': 7247.373314762197, 'ee_path_length': 2.3627723581413536, 'joint_rmse_mean': 1.6614858493699813, 'ee_speed_max': 0.5381220579147339, 'ee_speed_mean': 0.08877655118703842}, events: {'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_FULLY_CLOSED': 6}, instruction_type: default, timing: {'policy_inference_s': 337.225, 'policy_inference_avg_ms': 882.8, 'env_step_s': 97.724, 'env_step_avg_ms': 255.8, 'video_write_s': 3.54, 'video_write_avg_ms': 9.3, 'wall_total_s': 438.488, 'it_per_sec': 0.87}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a2fb89ea36a04af69ad97e33f53de6cd-0
+[RoboLab] Running BananasInBinThreeTotalTask_1: 'Make sure there are 3 (three) bananas in the grey bin.' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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': -10.538895237791122, 'joint_sparc_mean': -14.687647611220642, 'ee_isj': 1181.8282272404942, 'joint_isj': 12625.771719399007, 'ee_path_length': 4.245852357900169, 'joint_rmse_mean': 1.5765602408645747, 'ee_speed_max': 0.3778891861438751, 'ee_speed_mean': 0.06837274879217148}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_FULLY_CLOSED': 14, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 680.584, 'policy_inference_avg_ms': 756.2, 'env_step_s': 221.856, 'env_step_avg_ms': 246.5, 'video_write_s': 6.926, 'video_write_avg_ms': 7.7, 'wall_total_s': 909.366, 'it_per_sec': 0.99}, score: 0.0, reason: Only 0/1 objects completed. Failed: object_grabbed(object=banana) (step 1/2), harness_episode_id: 273da6ff999a45a284f24d471eed5ea5-1
+[RoboLab] Running BananasInBinThreeTotalTask_2: 'Make sure there are 3 (three) bananas in the grey bin.' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 241, duration: 16.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.483635636527911, 'joint_sparc_mean': -6.795078225170242, 'ee_isj': 400.36186032482703, 'joint_isj': 16389.16315373085, 'ee_path_length': 1.5780440591261709, 'joint_rmse_mean': 1.5318613702596127, 'ee_speed_max': 0.2833086848258972, 'ee_speed_mean': 0.09628017991781235}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 166.564, 'policy_inference_avg_ms': 691.1, 'env_step_s': 61.148, 'env_step_avg_ms': 253.7, 'video_write_s': 3.077, 'video_write_avg_ms': 12.8, 'wall_total_s': 230.79, 'it_per_sec': 1.04}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e483ba405ab14ca2bef766a03ad72151-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:23:11Z [24,487,472ms] [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 : 0.191838 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:23:14Z [24,490,420ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:23:14Z [24,490,421ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:23:14Z [24,490,431ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:23:14Z [24,490,431ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:23:14Z [24,490,440ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:23:14Z [24,490,448ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:23:15Z [24,490,803ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2152))' not available in the MDL representation.
+2026-10-28T21:23:15Z [24,490,803ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2152))' not available in the MDL representation.
+2026-10-28T21:23:15Z [24,490,875ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2185))' not available in the MDL representation.
+2026-10-28T21:23:15Z [24,490,875ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2185))' not available in the MDL representation.
+2026-10-28T21:23:15Z [24,490,946ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2216))' not available in the MDL representation.
+2026-10-28T21:23:15Z [24,490,946ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2216))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,561ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2152))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,561ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2152))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,563ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2185))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,563ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((2185))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,565ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2216))' not available in the MDL representation.
+2026-10-28T21:23:16Z [24,491,565ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2216))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.009539 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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: 752, duration: 50.13333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.564312862016811, 'joint_sparc_mean': -10.257703159340979, 'ee_isj': 650.2746037257496, 'joint_isj': 29723.0697179173, 'ee_path_length': 3.4854939246781482, 'joint_rmse_mean': 1.7945412770443971, 'ee_speed_max': 0.35837554931640625, 'ee_speed_mean': 0.0659823790192604}, events: {'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 3, 'OBJECT_BUMPED': 6, 'GRIPPER_HIT_TABLE': 2, 'GRIPPER_FULLY_CLOSED': 4, 'WRONG_OBJECT_GRABBED': 2, 'wrong_objects_grabbed': ['banana', 'banana']}, instruction_type: default, timing: {'policy_inference_s': 544.193, 'policy_inference_avg_ms': 723.7, 'env_step_s': 146.677, 'env_step_avg_ms': 195.0, 'video_write_s': 7.28, 'video_write_avg_ms': 9.7, 'wall_total_s': 698.15, 'it_per_sec': 1.08}, score: 1.0, reason: Wrong object that was grabbed is now detached: 'banana', harness_episode_id: 6aa7ce9421f84e30ad358b7ec74ab113-0
+[RoboLab] Running RubiksCubeThenBananaTask_1: 'Put the cube then the banana in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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: 661, duration: 44.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.663321852990107, 'joint_sparc_mean': -12.069397822181656, 'ee_isj': 840.5109718453792, 'joint_isj': 33897.04748996263, 'ee_path_length': 3.59084746829501, 'joint_rmse_mean': 1.6221005572996308, 'ee_speed_max': 0.24793368577957153, 'ee_speed_mean': 0.07738474756479263}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 664.069, 'policy_inference_avg_ms': 1004.6, 'env_step_s': 128.578, 'env_step_avg_ms': 194.5, 'video_write_s': 5.6, 'video_write_avg_ms': 8.5, 'wall_total_s': 798.246, 'it_per_sec': 0.83}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 33d745becddf491a86cd343eeb3a6c1e-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
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 53%|█████▎    | 480/900 [07:44<01:51,  3.76it/s]2026-10-28T21:56:44Z [26,499,580ms] [Warning] [robolab.eval.episode] Policy failed at step 480: Target gripper must be 0 (open) or 1 (closed)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/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: 480, duration: 32.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.527156888540095, 'joint_sparc_mean': -9.13542346931784, 'ee_isj': 539.5376122124508, 'joint_isj': 41433.97771506809, 'ee_path_length': 2.210641393187509, 'joint_rmse_mean': 1.6015277390968343, 'ee_speed_max': 0.29114630818367004, 'ee_speed_mean': 0.06680460274219513}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 384.924, 'policy_inference_avg_ms': 800.3, 'env_step_s': 92.868, 'env_step_avg_ms': 193.5, 'video_write_s': 4.171, 'video_write_avg_ms': 8.7, 'wall_total_s': 481.963, 'it_per_sec': 1.0}, error_kind: policy_execution, error_type: PolicyValidationError, error: Target gripper must be 0 (open) or 1 (closed), score: 0.0, reason: Condition not satisfied: object_in_container(object=banana, container=bowl, require_contact_with=False, require_gripper_detached=True) (step 2/2), harness_episode_id: a4713255a37f42bdbcf7b1d78b0a5c9f-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T21:56:45Z [26,501,394ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.204947 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T21:56:50Z [26,505,858ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:56:50Z [26,505,859ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:56:50Z [26,505,867ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T21:56:50Z [26,505,868ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:56:50Z [26,505,875ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T21:56:50Z [26,505,882ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T21:56:50Z [26,506,419ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2381))' not available in the MDL representation.
+2026-10-28T21:56:50Z [26,506,420ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2381))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,623ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2390))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,623ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2390))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2437))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2437))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,718ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2444))' not available in the MDL representation.
+2026-10-28T21:56:51Z [26,506,718ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2444))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,233ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2381))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,233ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((2381))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,234ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2390))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,234ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((2390))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,237ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2437))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,237ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((2437))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,238ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2444))' not available in the MDL representation.
+2026-10-28T21:56:52Z [26,508,238ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((2444))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.745660 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1CansTask                          │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack canned foods into the bin                │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1CansTaskSceneEnvCfg               │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1CansTask_0: 'Pack canned foods into the bin' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 115, duration: 7.666666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.102806628896522, 'joint_sparc_mean': -3.5467617638416717, 'ee_isj': 267.40123146523206, 'joint_isj': 2604.8615848095546, 'ee_path_length': 0.9750154783219408, 'joint_rmse_mean': 1.6248799841413493, 'ee_speed_max': 0.2912292778491974, 'ee_speed_mean': 0.11904405802488327}, events: {'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 144.926, 'policy_inference_avg_ms': 1260.2, 'env_step_s': 24.383, 'env_step_avg_ms': 212.0, 'video_write_s': 1.733, 'video_write_avg_ms': 15.1, 'wall_total_s': 171.042, 'it_per_sec': 0.67}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 4c523160ed34492fba07e3666b3c24c8-0
+[RoboLab] Running FoodPacking1CansTask_1: 'Pack canned foods into the bin' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.036051070333386, 'joint_sparc_mean': -16.149912982450928, 'ee_isj': 1581.4244634013705, 'joint_isj': 47378.54903383365, 'ee_path_length': 5.184873449533652, 'joint_rmse_mean': 1.583044553470637, 'ee_speed_max': 0.43887144327163696, 'ee_speed_mean': 0.08193676173686981}, events: {'TARGET_OBJECT_DROPPED': 14, 'GRIPPER_FULLY_CLOSED': 13, 'GRIPPER_HIT_TABLE': 2, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_HIT_OBJECT': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bin_a06', 'bin_a06']}, instruction_type: default, timing: {'policy_inference_s': 606.575, 'policy_inference_avg_ms': 674.0, 'env_step_s': 186.602, 'env_step_avg_ms': 207.3, 'video_write_s': 6.97, 'video_write_avg_ms': 7.7, 'wall_total_s': 800.147, 'it_per_sec': 1.12}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=tomato_soup_can) (step 1/2), harness_episode_id: 184f4de50a684f7caa2e1d84b5df3501-1
+[RoboLab] Running FoodPacking1CansTask_2: 'Pack canned foods into the bin' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 706, duration: 47.06666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.143473461985474, 'joint_sparc_mean': -8.21255860725204, 'ee_isj': 1145.8934639001286, 'joint_isj': 19662.040696935488, 'ee_path_length': 3.7149423347351296, 'joint_rmse_mean': 1.5319845897590716, 'ee_speed_max': 0.32621991634368896, 'ee_speed_mean': 0.07522736489772797}, events: {'GRIPPER_FULLY_CLOSED': 7, 'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 2}, instruction_type: default, timing: {'policy_inference_s': 747.322, 'policy_inference_avg_ms': 1058.5, 'env_step_s': 148.351, 'env_step_avg_ms': 210.1, 'video_write_s': 5.979, 'video_write_avg_ms': 8.5, 'wall_total_s': 901.651, 'it_per_sec': 0.78}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2483e051475b4701b05cdea4f4308daa-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-10-28T22:29:08Z [28,443,926ms] [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 : 0.188266 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-10-28T22:29:11Z [28,446,693ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:29:11Z [28,446,694ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:11Z [28,446,702ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-10-28T22:29:11Z [28,446,702ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:11Z [28,446,710ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-10-28T22:29:11Z [28,446,716ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-10-28T22:29:11Z [28,447,114ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2647))' not available in the MDL representation.
+2026-10-28T22:29:11Z [28,447,114ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2647))' not available in the MDL representation.
+2026-10-28T22:29:11Z [28,447,150ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2667))' not available in the MDL representation.
+2026-10-28T22:29:11Z [28,447,150ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2667))' not available in the MDL representation.
+2026-10-28T22:29:12Z [28,447,931ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2647))' not available in the MDL representation.
+2026-10-28T22:29:12Z [28,447,931ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((2647))' not available in the MDL representation.
+2026-10-28T22:29:12Z [28,447,933ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2667))' not available in the MDL representation.
+2026-10-28T22:29:12Z [28,447,933ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((2667))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.918929 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 9)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         8 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : BananaInBowlTask                              │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pick up the banana and place it in the bowl   │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : BananaInBowlTaskSceneEnvCfg                   │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running BananaInBowlTask_0: 'Pick up the banana and place it in the bowl' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 316, duration: 21.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.530148033197701, 'joint_sparc_mean': -7.732595421436982, 'ee_isj': 215.44566189585902, 'joint_isj': 7403.4120412465345, 'ee_path_length': 1.4600805070814729, 'joint_rmse_mean': 1.765369747829294, 'ee_speed_max': 0.27887049317359924, 'ee_speed_mean': 0.06590785086154938}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 390.545, 'policy_inference_avg_ms': 1235.9, 'env_step_s': 55.006, 'env_step_avg_ms': 174.1, 'video_write_s': 3.226, 'video_write_avg_ms': 10.2, 'wall_total_s': 448.778, 'it_per_sec': 0.7}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 90244104432d46eabc4f210e7dc5127d-0
+[RoboLab] Running BananaInBowlTask_1: 'Pick up the banana and place it in the bowl' (run 1, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 175, duration: 11.666666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.939419256270284, 'joint_sparc_mean': -3.4536845984815137, 'ee_isj': 116.06147091002184, 'joint_isj': 1780.937187851547, 'ee_path_length': 0.9529944517343955, 'joint_rmse_mean': 1.6299144395406908, 'ee_speed_max': 0.25334325432777405, 'ee_speed_mean': 0.07479801774024963}, events: {'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 171.256, 'policy_inference_avg_ms': 978.6, 'env_step_s': 32.018, 'env_step_avg_ms': 183.0, 'video_write_s': 2.332, 'video_write_avg_ms': 13.3, 'wall_total_s': 205.607, 'it_per_sec': 0.85}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e0e1320338074c80a19d6fb9fd3ba546-1
+[RoboLab] Running BananaInBowlTask_2: 'Pick up the banana and place it in the bowl' (run 2, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_joint_delta/gpu_5/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: 317, duration: 21.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.544522925123577, 'joint_sparc_mean': -6.100325781852505, 'ee_isj': 287.9781487729218, 'joint_isj': 8571.793619033575, 'ee_path_length': 1.6542682471437051, 'joint_rmse_mean': 1.7349963336847032, 'ee_speed_max': 0.3452940285205841, 'ee_speed_mean': 0.0750696137547493}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 322.563, 'policy_inference_avg_ms': 1017.5, 'env_step_s': 55.287, 'env_step_avg_ms': 174.4, 'video_write_s': 3.164, 'video_write_avg_ms': 10.0, 'wall_total_s': 381.015, 'it_per_sec': 0.83}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d620a06439074dc39ffde462e7694863-2
+--------------------------------------------------------------------- EXPERIMENT SUMMARY ---------------------------------------------------------------------
+Task Name                  Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (11 tasks)           18/33    54.5%   [37.9-70.2]    0.576        0.067       26.59   -6.45    3.74       9.2         0.75 14.5       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask           3/3      100.0%  [39.8-99.4]    1.000        -           17.96   -5.34    1.36       7.2         0.79 5.8        
+BananasInBinThreeTotalTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       20.77   -7.20    2.73       8.4         0.97 8.8        
+FoodPacking1BoxesTask      0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.86    7.50       12.1        0.97 15.5       
+FoodPacking1CansTask       2/3      66.7%   [19.4-93.2]    0.667        0.000       27.37   -6.09    3.29       9.2         0.86 10.4       
+FruitsOnionToPlateTask     0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.34    4.90       7.8         0.68 23.2       
+MarkerInMugTask            1/3      33.3%   [6.8-80.6]     0.333        0.000       30.07   -6.15    4.62       12.1        0.51 18.1       
+ReorientRedMugTask         3/3      100.0%  [39.8-99.4]    1.000        -           23.51   -5.77    1.81       8.2         0.71 8.3        
+RubiksCubeThenBananaTask   2/3      66.7%   [19.4-93.2]    0.667        0.000       47.10   -6.25    3.10       7.0         0.97 11.0       
+SmallPumpkinInBinTask      2/3      66.7%   [19.4-93.2]    0.667        0.000       24.57   -5.68    3.32       9.4         0.55 17.0       
+SpoonInMugTask             2/3      66.7%   [19.4-93.2]    0.667        0.000       24.07   -5.15    3.55       10.0        0.61 18.6       
+TakeSpatulaOffShelfTask    1/3      33.3%   [6.8-80.6]     0.667        0.500       36.47   -8.08    5.01       9.6         0.62 23.2       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananaInBowlTask/log_2_env0.json
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1.0]]}, "score": 1.0, "logical": "choose", "K": 1, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "counting", "moderate"], "_task_attributes": ["semantics", "counting", "moderate"], "_task_name": "BananasInBinThreeTotalTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Make sure there are 3 (three) bananas in the grey bin.", "contact_object_list": ["banana", "banana_01", "banana_02", "banana_03", "banana_04", "grey_bin", "table"], "_instruction_variants": {"default": "Make sure there are 3 (three) bananas in the grey bin.", "vague": "3 bananas in the bin", "specific": "In addition to bananas in the bin, add one more banana to the grey bin until there are exactly three bananas inside"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/BananasInBinThreeTotalTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c4f3869a9bfc63c7bdc5a179102a2822e2484
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/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_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d1d7eb88e9d20da97b33f38c6412a96dec8099
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/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": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "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": 183, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 183, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'tomato_soup_can' (target objects: ['cheez_it'])", "score": 0.0}, {"step": 286, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'tomato_soup_can'", "score": 0.0}, {"step": 287, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'tomato_soup_can'", "score": 0.0}, {"step": 293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 295, "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": 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=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 408, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "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": 499, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 501, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "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": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 680, "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": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 695, "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": 738, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 746, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 746, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 813, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 847, "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": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 874, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1BoxesTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..286bdac2c8c5b4ffe86b32d5d5244e0556223824
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/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": 77, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 196, "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": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=cheez_it). regressing to step 0 for cheez_it.", "score": 0.0}, {"step": 212, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": 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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:5", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, 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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bbad3125adf09b18edc8e479744bf2e9725a448
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/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": 115, "events": [{"step": 79, "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": 81, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 81, "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": 83, "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": 113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 115, "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_joint_delta/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bc455089c9dc4f7535d49c26efa976ff7949233
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
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"renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..00d22282b6075eeffb10ec363feebfa7bc78cee6
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/FruitsOnionToPlateTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/MarkerInMugTask/log_2_env0.json
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null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, 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{"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_upright", "params": {"object": ["red_mug"], "up_axis": "z", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"reorienting_red_mug": [["functools.partial(<function object_grabbed at 0x7f1f6273be20>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7f1f643aa340>, object='red_mug', require_gripper_detached=True)", 0.5]]}, "score": 1.0, "logical": "all", "K": null, "name": "reorient_red_mug"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["reorientation", "color", "moderate"], "_task_attributes": ["reorientation", "color", "moderate"], "_task_name": "ReorientRedMugTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Put the red mug upright so that the opening is facing upwards.", "contact_object_list": ["red_mug", "bowl", "ceramic_mug", "upright_white_mug", "sideways_white_mug", "cordless_drill", "measuring_cup", "table"], "_instruction_variants": {"default": "Put the red mug upright so that the opening is facing upwards.", "vague": "Fix the red cup", "specific": "Check the red ceramic mug and if it is tipped over or inverted, rotate it so the opening faces upward. Leave it if already upright."}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..53978d2aad608966efc43f486dd44bc4af90ca1f
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/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": 183, "events": [{"step": 35, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 35, "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": 43, "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": 93, "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": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 102, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.5}, {"step": 139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.129m", "score": 0.5}, {"step": 182, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_mug). regressing to step 0 for reorienting_red_mug.", "score": 0.0}, {"step": 183, "code": 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_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..44baa5fc793a637393fd9751fe46fbaa1e7861a9
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 285, "events": [{"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 208, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 257, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 257, "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": 259, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.113m", "score": 0.5}, {"step": 260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug'])", "score": 0.0}, {"step": 260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'sideways_white_mug'", "score": 0.0}, {"step": 260, "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": 261, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 263, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'sideways_white_mug' (target objects: ['reorienting_red_mug'])", "score": 0.0}, {"step": 263, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'sideways_white_mug'", "score": 0.0}, {"step": 274, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 285, "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_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d714716af242900f10665472b7559b0a8407779
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/ReorientRedMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ReorientRedMugTask", "env_id": 0, "run": 2, "success": true, "final_step": 590, "events": [{"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 46, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 46, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_mug'", "score": 0.5}, {"step": 46, "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": 48, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 61, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_mug'", "score": 0.0}, {"step": 61, "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": 67, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.096m", "score": 0.0}, {"step": 92, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 117, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'upright_white_mug'", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 211, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug'])", "score": 0.0}, {"step": 213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 214, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 226, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'upright_white_mug' (target objects: ['reorienting_red_mug'])", "score": 0.0}, {"step": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'upright_white_mug'", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 356, "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": 381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_mug' (target objects: ['reorienting_red_mug'])", "score": 0.5}, {"step": 390, "code": 256, "name": 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"Put the cube then the banana in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "Put the cube then the banana in the bowl", "vague": "Put the cube then banana in the bowl", "specific": "First pick up the rubiks cube that's on the table and place it in the bowl, then pick up the yellow banana and place it in the bowl"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/RubiksCubeThenBananaTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f8f92f215de7a12b8f4f774c2dd38b334e6c52
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/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": 752, "events": [{"step": 38, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 106, "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": 107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 108, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.0}, {"step": 169, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 175, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.055m", "score": 0.5}, {"step": 256, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 274, "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": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 316, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.5}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 330, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.122m", "score": 1.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 443, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 1.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 557, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 1.0}, {"step": 571, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.051m", "score": 1.0}, {"step": 589, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.074m", "score": 1.0}, {"step": 597, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}, {"step": 608, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.127m", "score": 1.0}, {"step": 694, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: [])", "score": 1.0}, {"step": 736, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.153m", "score": 1.0}, {"step": 751, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/RubiksCubeThenBananaTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3c42e5c35290827d2186457440fe1a8587b74
--- /dev/null
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
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+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_0_env0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/run_0.hdf5 b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SmallPumpkinInBinTask/run_0.hdf5
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SpoonInMugTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SpoonInMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/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_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
new file mode 100644
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+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5429f892077f156a035754c4bfebf8d5a2befa88
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0da4037f217a7e1f7997029371d7fb7b9c8d7eb
--- /dev/null
+++ b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/run_0.hdf5 b/harness_robolab_exploration/embo_joint_delta/gpu_5/robolab/TakeSpatulaOffShelfTask/run_0.hdf5
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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 5 finished FruitsOnionToPlateTask/0: FAILURE | Tasks 0/20 | Episodes 1/60 | Success 0.00% (0/1) | Mean Harness 1213.253s | Mean Wall 1793.447s | Mean Tokens 9,637,503.0 | Mean Raw Harness 1213.253s | Mean Raw Wall 1793.447s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/0: FAILURE | Tasks 0/20 | Episodes 2/60 | Success 0.00% (0/2) | Mean Harness 1526.167s | Mean Wall 2249.111s | Mean Tokens 9,637,503.0 (1/2 complete) | Mean Raw Harness 1526.167s | Mean Raw Wall 2249.111s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/1: FAILURE | Tasks 0/20 | Episodes 3/60 | Success 0.00% (0/3) | Mean Harness 1257.493s | Mean Wall 1933.089s | Mean Tokens 7,307,400.0 (2/3 complete) | Mean Raw Harness 1257.493s | Mean Raw Wall 1933.089s
+[Batch] GPU 5 finished FruitsOnionToPlateTask/2: FAILURE | Tasks 1/20 | Episodes 4/60 | Success 0.00% (0/4) | Mean Harness 1066.657s | Mean Wall 1718.481s | Mean Tokens 6,037,775.7 (3/4 complete) | Mean Raw Harness 1066.657s | Mean Raw Wall 1718.481s
+[Batch] GPU 5 finished MarkerInMugTask/0: FAILURE | Tasks 1/20 | Episodes 5/60 | Success 0.00% (0/5) | Mean Harness 1022.045s | Mean Wall 1609.972s | Mean Tokens 6,208,380.5 (4/5 complete) | Mean Raw Harness 1022.045s | Mean Raw Wall 1609.972s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/1: FAILURE | Tasks 1/20 | Episodes 6/60 | Success 0.00% (0/6) | Mean Harness 1234.467s | Mean Wall 1874.756s | Mean Tokens 8,146,791.4 (5/6 complete) | Mean Raw Harness 1236.814s | Mean Raw Wall 1877.103s
+[Batch] GPU 5 finished MarkerInMugTask/1: FAILURE | Tasks 1/20 | Episodes 7/60 | Success 0.00% (0/7) | Mean Harness 1172.878s | Mean Wall 1768.779s | Mean Tokens 7,761,354.2 (6/7 complete) | Mean Raw Harness 1174.890s | Mean Raw Wall 1770.791s
+[Batch] GPU 5 finished MarkerInMugTask/2: SUCCESS | Tasks 2/20 | Episodes 8/60 | Success 12.50% (1/8) | Mean Harness 1112.844s | Mean Wall 1666.025s | Mean Tokens 7,400,200.9 (7/8 complete) | Mean Raw Harness 1114.604s | Mean Raw Wall 1667.786s
+[Batch] GPU 5 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 2/20 | Episodes 9/60 | Success 22.22% (2/9) | Mean Harness 1025.267s | Mean Wall 1549.088s | Mean Tokens 6,783,750.8 (8/9 complete) | Mean Raw Harness 1026.832s | Mean Raw Wall 1550.653s
+[Batch] GPU 4 finished PlasticBottlesInSquarePailTask/2: FAILURE | Tasks 3/20 | Episodes 10/60 | Success 20.00% (2/10) | Mean Harness 1219.519s | Mean Wall 1779.200s | Mean Tokens 8,368,788.7 (9/10 complete) | Mean Raw Harness 1220.927s | Mean Raw Wall 1780.609s
+[Batch] GPU 5 finished SmallPumpkinInBinTask/1: FAILURE | Tasks 3/20 | Episodes 11/60 | Success 18.18% (2/11) | Mean Harness 1211.336s | Mean Wall 1777.756s | Mean Tokens 8,492,892.7 (10/11 complete) | Mean Raw Harness 1214.625s | Mean Raw Wall 1781.045s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/0: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 25.00% (3/12) | Mean Harness 1144.986s | Mean Wall 1670.375s | Mean Tokens 7,994,099.9 (11/12 complete) | Mean Raw Harness 1148.300s | Mean Raw Wall 1673.689s
+[Batch] GPU 5 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 4/20 | Episodes 13/60 | Success 30.77% (4/13) | Mean Harness 1090.364s | Mean Wall 1593.102s | Mean Tokens 7,617,408.5 (12/13 complete) | Mean Raw Harness 1093.423s | Mean Raw Wall 1596.160s
+[Batch] GPU 5 finished SpoonInMugTask/0: SUCCESS | Tasks 4/20 | Episodes 14/60 | Success 35.71% (5/14) | Mean Harness 1033.966s | Mean Wall 1515.877s | Mean Tokens 7,227,734.4 (13/14 complete) | Mean Raw Harness 1036.806s | Mean Raw Wall 1518.717s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/1: FAILURE | Tasks 4/20 | Episodes 15/60 | Success 33.33% (5/15) | Mean Harness 1024.167s | Mean Wall 1491.815s | Mean Tokens 7,122,205.1 (14/15 complete) | Mean Raw Harness 1029.005s | Mean Raw Wall 1496.653s
+[Batch] GPU 5 finished SpoonInMugTask/1: SUCCESS | Tasks 4/20 | Episodes 16/60 | Success 37.50% (6/16) | Mean Harness 979.878s | Mean Wall 1427.859s | Mean Tokens 6,828,047.8 (15/16 complete) | Mean Raw Harness 984.780s | Mean Raw Wall 1432.761s
+[Batch] GPU 4 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 5/20 | Episodes 17/60 | Success 35.29% (6/17) | Mean Harness 991.395s | Mean Wall 1428.890s | Mean Tokens 6,756,004.4 (16/17 complete) | Mean Raw Harness 996.008s | Mean Raw Wall 1433.503s
+[Batch] GPU 4 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 5/20 | Episodes 18/60 | Success 38.89% (7/18) | Mean Harness 967.840s | Mean Wall 1388.859s | Mean Tokens 6,557,497.8 (17/18 complete) | Mean Raw Harness 972.772s | Mean Raw Wall 1393.791s
+[Batch] GPU 5 finished SpoonInMugTask/2: FAILURE | Tasks 6/20 | Episodes 19/60 | Success 36.84% (7/19) | Mean Harness 1017.237s | Mean Wall 1439.939s | Mean Tokens 6,749,048.8 (18/19 complete) | Mean Raw Harness 1021.910s | Mean Raw Wall 1444.611s
+[Batch] GPU 4 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 6/20 | Episodes 20/60 | Success 40.00% (8/20) | Mean Harness 1006.086s | Mean Wall 1414.368s | Mean Tokens 6,674,138.6 (19/20 complete) | Mean Raw Harness 1010.525s | Mean Raw Wall 1418.807s
+[Batch] GPU 4 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 7/20 | Episodes 21/60 | Success 42.86% (9/21) | Mean Harness 986.234s | Mean Wall 1384.116s | Mean Tokens 6,539,844.5 (20/21 complete) | Mean Raw Harness 990.461s | Mean Raw Wall 1388.343s
+[Batch] GPU 5 finished TakeSpatulaOffShelfTask/0: FAILURE | Tasks 7/20 | Episodes 22/60 | Success 40.91% (9/22) | Mean Harness 1026.753s | Mean Wall 1419.929s | Mean Tokens 6,539,844.5 (20/22 complete) | Mean Raw Harness 1030.788s | Mean Raw Wall 1423.964s
+[Batch] GPU 4 finished ClampInRightBinTask/0: FAILURE | Tasks 7/20 | Episodes 23/60 | Success 39.13% (9/23) | Mean Harness 1029.570s | Mean Wall 1416.174s | Mean Tokens 6,660,387.5 (21/23 complete) | Mean Raw Harness 1033.429s | Mean Raw Wall 1420.034s
+[Batch] GPU 5 finished TakeSpatulaOffShelfTask/1: FAILURE | Tasks 7/20 | Episodes 24/60 | Success 37.50% (9/24) | Mean Harness 1026.720s | Mean Wall 1409.284s | Mean Tokens 6,660,387.5 (21/24 complete) | Mean Raw Harness 1030.419s | Mean Raw Wall 1412.983s
+[Batch] GPU 4 finished ClampInRightBinTask/1: FAILURE | Tasks 7/20 | Episodes 25/60 | Success 36.00% (9/25) | Mean Harness 1024.770s | Mean Wall 1401.800s | Mean Tokens 6,748,836.9 (22/25 complete) | Mean Raw Harness 1028.321s | Mean Raw Wall 1405.350s
+[Batch] GPU 5 finished TakeSpatulaOffShelfTask/2: SUCCESS | Tasks 8/20 | Episodes 26/60 | Success 38.46% (10/26) | Mean Harness 1007.482s | Mean Wall 1376.887s | Mean Tokens 6,547,778.0 (23/26 complete) | Mean Raw Harness 1010.896s | Mean Raw Wall 1380.301s
+[Batch] GPU 5 finished ReorientRedMugTask/0: SUCCESS | Tasks 8/20 | Episodes 27/60 | Success 40.74% (11/27) | Mean Harness 976.974s | Mean Wall 1334.809s | Mean Tokens 6,352,932.0 (24/27 complete) | Mean Raw Harness 980.261s | Mean Raw Wall 1338.096s
+[Batch] GPU 5 finished ReorientRedMugTask/1: SUCCESS | Tasks 8/20 | Episodes 28/60 | Success 42.86% (12/28) | Mean Harness 954.060s | Mean Wall 1302.156s | Mean Tokens 6,209,202.6 (25/28 complete) | Mean Raw Harness 957.230s | Mean Raw Wall 1305.326s
+[Batch] GPU 4 finished ClampInRightBinTask/2: FAILURE | Tasks 9/20 | Episodes 29/60 | Success 41.38% (12/29) | Mean Harness 960.951s | Mean Wall 1305.432s | Mean Tokens 6,321,183.8 (26/29 complete) | Mean Raw Harness 964.012s | Mean Raw Wall 1308.493s
+[Batch] GPU 5 finished ReorientRedMugTask/2: SUCCESS | Tasks 10/20 | Episodes 30/60 | Success 43.33% (13/30) | Mean Harness 950.964s | Mean Wall 1289.876s | Mean Tokens 6,304,256.9 (27/30 complete) | Mean Raw Harness 953.924s | Mean Raw Wall 1292.835s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 10/20 | Episodes 31/60 | Success 45.16% (14/31) | Mean Harness 932.054s | Mean Wall 1264.110s | Mean Tokens 6,165,888.4 (28/31 complete) | Mean Raw Harness 934.917s | Mean Raw Wall 1266.974s
+[Batch] GPU 5 finished FoodPacking1BoxesTask/0: FAILURE | Tasks 10/20 | Episodes 32/60 | Success 43.75% (14/32) | Mean Harness 926.937s | Mean Wall 1254.965s | Mean Tokens 6,160,331.4 (29/32 complete) | Mean Raw Harness 929.712s | Mean Raw Wall 1257.740s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/1: FAILURE | Tasks 10/20 | Episodes 33/60 | Success 42.42% (14/33) | Mean Harness 928.105s | Mean Wall 1254.866s | Mean Tokens 6,259,707.6 (30/33 complete) | Mean Raw Harness 930.795s | Mean Raw Wall 1257.556s
+[Batch] GPU 5 finished FoodPacking1BoxesTask/1: FAILURE | Tasks 10/20 | Episodes 34/60 | Success 41.18% (14/34) | Mean Harness 924.105s | Mean Wall 1247.274s | Mean Tokens 6,235,076.4 (31/34 complete) | Mean Raw Harness 926.716s | Mean Raw Wall 1249.885s
+[Batch] GPU 4 finished OneBottleInSquarePailTask/2: FAILURE | Tasks 11/20 | Episodes 35/60 | Success 40.00% (14/35) | Mean Harness 924.982s | Mean Wall 1247.207s | Mean Tokens 6,328,458.1 (32/35 complete) | Mean Raw Harness 927.518s | Mean Raw Wall 1249.743s
+[Batch] GPU 5 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 12/20 | Episodes 36/60 | Success 38.89% (14/36) | Mean Harness 916.649s | Mean Wall 1235.537s | Mean Tokens 6,290,006.4 (33/36 complete) | Mean Raw Harness 919.115s | Mean Raw Wall 1238.003s
+[Batch] GPU 5 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 12/20 | Episodes 37/60 | Success 40.54% (15/37) | Mean Harness 900.864s | Mean Wall 1214.000s | Mean Tokens 6,145,675.3 (34/37 complete) | Mean Raw Harness 903.264s | Mean Raw Wall 1216.400s
+[Batch] GPU 4 finished RedItemsInBinTask/0: SUCCESS | Tasks 12/20 | Episodes 38/60 | Success 42.11% (16/38) | Mean Harness 889.253s | Mean Wall 1197.623s | Mean Tokens 6,111,511.4 (35/38 complete) | Mean Raw Harness 891.589s | Mean Raw Wall 1199.959s
+[Batch] GPU 4 finished RedItemsInBinTask/1: SUCCESS | Tasks 12/20 | Episodes 39/60 | Success 43.59% (17/39) | Mean Harness 877.039s | Mean Wall 1181.620s | Mean Tokens 6,038,806.8 (36/39 complete) | Mean Raw Harness 879.315s | Mean Raw Wall 1183.896s
+[Batch] GPU 5 finished BananasInBinThreeTotalTask/1: FAILURE | Tasks 12/20 | Episodes 40/60 | Success 42.50% (17/40) | Mean Harness 871.856s | Mean Wall 1174.825s | Mean Tokens 6,023,584.9 (37/40 complete) | Mean Raw Harness 874.075s | Mean Raw Wall 1177.045s
+[Batch] GPU 4 finished RedItemsInBinTask/2: SUCCESS | Tasks 13/20 | Episodes 41/60 | Success 43.90% (18/41) | Mean Harness 858.388s | Mean Wall 1156.673s | Mean Tokens 5,941,987.7 (38/41 complete) | Mean Raw Harness 860.553s | Mean Raw Wall 1158.838s
+[Batch] GPU 5 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 14/20 | Episodes 42/60 | Success 45.24% (19/42) | Mean Harness 841.843s | Mean Wall 1134.631s | Mean Tokens 5,828,571.0 (39/42 complete) | Mean Raw Harness 843.957s | Mean Raw Wall 1136.744s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 14/20 | Episodes 43/60 | Success 46.51% (20/43) | Mean Harness 834.718s | Mean Wall 1124.489s | Mean Tokens 5,790,795.6 (40/43 complete) | Mean Raw Harness 836.783s | Mean Raw Wall 1126.554s
+[Batch] GPU 4 finished BananaThenRubiksCubeTask/0: FAILURE | Tasks 14/20 | Episodes 44/60 | Success 45.45% (20/44) | Mean Harness 834.504s | Mean Wall 1122.477s | Mean Tokens 5,863,760.6 (41/44 complete) | Mean Raw Harness 836.522s | Mean Raw Wall 1124.495s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 14/20 | Episodes 45/60 | Success 46.67% (21/45) | Mean Harness 830.531s | Mean Wall 1115.280s | Mean Tokens 5,876,836.9 (42/45 complete) | Mean Raw Harness 832.504s | Mean Raw Wall 1117.253s
+[Batch] GPU 5 finished RubiksCubeThenBananaTask/2: FAILURE | Tasks 15/20 | Episodes 46/60 | Success 45.65% (21/46) | Mean Harness 830.531s (45/46 complete) | Mean Wall 1115.280s (45/46 complete) | Mean Tokens 5,876,836.9 (42/46 complete) | Mean Raw Harness 832.504s (45/46 complete) | Mean Raw Wall 1117.253s (45/46 complete)
+[Batch] GPU 4 finished BananaThenRubiksCubeTask/1: FAILURE | Tasks 15/20 | Episodes 47/60 | Success 44.68% (21/47) | Mean Harness 833.879s (46/47 complete) | Mean Wall 1116.869s (46/47 complete) | Mean Tokens 5,950,400.4 (43/47 complete) | Mean Raw Harness 835.809s (46/47 complete) | Mean Raw Wall 1118.798s (46/47 complete)
+[Batch] GPU 5 finished FoodPacking1CansTask/0: SUCCESS | Tasks 15/20 | Episodes 48/60 | Success 45.83% (22/48) | Mean Harness 819.188s (47/48 complete) | Mean Wall 1096.746s (47/48 complete) | Mean Tokens 5,844,385.4 (44/48 complete) | Mean Raw Harness 821.077s (47/48 complete) | Mean Raw Wall 1098.635s (47/48 complete)
+[Batch] GPU 4 finished BananaThenRubiksCubeTask/2: FAILURE | Tasks 16/20 | Episodes 49/60 | Success 44.90% (22/49) | Mean Harness 814.058s (48/49 complete) | Mean Wall 1089.820s (48/49 complete) | Mean Tokens 5,836,744.5 (45/49 complete) | Mean Raw Harness 815.907s (48/49 complete) | Mean Raw Wall 1091.669s (48/49 complete)
+[Batch] GPU 5 finished FoodPacking1CansTask/1: FAILURE | Tasks 16/20 | Episodes 50/60 | Success 44.00% (22/50) | Mean Harness 809.601s (49/50 complete) | Mean Wall 1083.918s (49/50 complete) | Mean Tokens 5,818,499.4 (46/50 complete) | Mean Raw Harness 811.412s (49/50 complete) | Mean Raw Wall 1085.729s (49/50 complete)
+[Batch] GPU 4 finished MustardInLeftBinTask/0: FAILURE | Tasks 16/20 | Episodes 51/60 | Success 43.14% (22/51) | Mean Harness 799.616s (50/51 complete) | Mean Wall 1070.269s (50/51 complete) | Mean Tokens 5,753,910.6 (47/51 complete) | Mean Raw Harness 801.788s (50/51 complete) | Mean Raw Wall 1072.441s (50/51 complete)
+[Batch] GPU 4 finished MustardInLeftBinTask/1: SUCCESS | Tasks 16/20 | Episodes 52/60 | Success 44.23% (23/52) | Mean Harness 787.207s (51/52 complete) | Mean Wall 1053.454s (51/52 complete) | Mean Tokens 5,664,113.5 (48/52 complete) | Mean Raw Harness 790.795s (51/52 complete) | Mean Raw Wall 1057.043s (51/52 complete)
+[Batch] GPU 5 finished FoodPacking1CansTask/2: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 45.28% (24/53) | Mean Harness 784.723s (52/53 complete) | Mean Wall 1048.996s (52/53 complete) | Mean Tokens 5,664,113.5 (48/53 complete) | Mean Raw Harness 789.790s (52/53 complete) | Mean Raw Wall 1054.062s (52/53 complete)
+[Batch] GPU 4 finished MustardInLeftBinTask/2: FAILURE | Tasks 18/20 | Episodes 54/60 | Success 44.44% (24/54) | Mean Harness 776.995s (53/54 complete) | Mean Wall 1038.067s (53/54 complete) | Mean Tokens 5,601,322.4 (49/54 complete) | Mean Raw Harness 782.342s (53/54 complete) | Mean Raw Wall 1043.413s (53/54 complete)
+[Batch] GPU 5 finished BananaInBowlTask/0: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 45.45% (25/55) | Mean Harness 767.829s (54/55 complete) | Mean Wall 1025.216s (54/55 complete) | Mean Tokens 5,548,691.3 (50/55 complete) | Mean Raw Harness 775.017s (54/55 complete) | Mean Raw Wall 1032.404s (54/55 complete)
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/0: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 46.43% (26/56) | Mean Harness 757.921s (55/56 complete) | Mean Wall 1011.307s (55/56 complete) | Mean Tokens 5,478,781.5 (51/56 complete) | Mean Raw Harness 766.432s (55/56 complete) | Mean Raw Wall 1019.818s (55/56 complete)
+[Batch] GPU 5 finished BananaInBowlTask/1: SUCCESS | Tasks 18/20 | Episodes 57/60 | Success 47.37% (27/57) | Mean Harness 747.407s (56/57 complete) | Mean Wall 996.921s (56/57 complete) | Mean Tokens 5,408,231.8 (52/57 complete) | Mean Raw Harness 755.766s (56/57 complete) | Mean Raw Wall 1005.280s (56/57 complete)
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 18/20 | Episodes 58/60 | Success 48.28% (28/58) | Mean Harness 739.955s (57/58 complete) | Mean Wall 985.905s (57/58 complete) | Mean Tokens 5,352,696.0 (53/58 complete) | Mean Raw Harness 748.167s (57/58 complete) | Mean Raw Wall 994.117s (57/58 complete)
+[Batch] GPU 5 finished BananaInBowlTask/2: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 49.15% (29/59) | Mean Harness 732.690s (58/59 complete) | Mean Wall 975.479s (58/59 complete) | Mean Tokens 5,308,292.2 (54/59 complete) | Mean Raw Harness 740.761s (58/59 complete) | Mean Raw Wall 983.549s (58/59 complete)
+[Batch] GPU 4 finished BowlStackingRightOnLeftTask/2: FAILURE | Tasks 20/20 | Episodes 60/60 | Success 48.33% (29/60) | Mean Harness 725.358s (59/60 complete) | Mean Wall 965.015s (59/60 complete) | Mean Tokens 5,252,475.6 (55/60 complete) | Mean Raw Harness 734.600s (59/60 complete) | Mean Raw Wall 974.257s (59/60 complete)
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 48.33% (29/60) | Mean Harness 725.358s (59/60 complete) | Mean Wall 965.015s (59/60 complete) | Mean Tokens 5,252,475.6 (55/60 complete) | Mean Raw Harness 734.600s (59/60 complete) | Mean Raw Wall 974.257s (59/60 complete)
diff --git a/harness_robolab_exploration/embo_multiact/assignments.tsv b/harness_robolab_exploration/embo_multiact/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..3bd7be05641efb37da79d4aa97fdf2a37d7a8449
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/assignments.tsv
@@ -0,0 +1,5 @@
+gpu	port	estimated_seconds	tasks
+0	8000	14395.854	PlasticBottlesInSquarePailTask OneBottleInSquarePailTask BananasInBinThreeTotalTask BowlStackingRightOnLeftTask
+1	8001	13334.856	FruitsOnionToPlateTask BlockStackingSpecifiedOrderTask ReorientRedMugTask BananaThenRubiksCubeTask FoodPacking1CansTask
+2	8002	14549.234	MarkerInMugTask SpoonInMugTask ClampInRightBinTask FoodPacking1BoxesTask RubiksCubeThenBananaTask BananaInBowlTask
+3	8003	13272.163	SmallPumpkinInBinTask ReorientWhiteMugsTask TakeSpatulaOffShelfTask RedItemsInBinTask MustardInLeftBinTask
diff --git a/harness_robolab_exploration/embo_multiact/batch_manifest.json b/harness_robolab_exploration/embo_multiact/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ae80e1d826abe30b76c5b30a7366860d20ef01
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/batch_manifest.json
@@ -0,0 +1,38 @@
+{
+  "generations": [
+    {
+      "gpus": [
+        0,
+        1,
+        2,
+        3
+      ],
+      "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_multiact/gpu_0/client.log b/harness_robolab_exploration/embo_multiact/gpu_0/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..18245d1460d492e389810ee6c642fc891b435c86
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/client.log
@@ -0,0 +1,2261 @@
+[2026-11-03T14:47:17Z] 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_20261103_144722.log
+2026-11-03T14:47:22Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:22Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:22Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:22Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:22Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:22Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:22Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:22Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:22Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:22Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:22Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:22Z [77ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:22Z [89ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:22Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:22Z [120ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:22Z [123ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:22Z [129ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:29Z [6,758ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:29Z [6,758ms] [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)
+2026-11-03T14:47:29Z [6,852ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:30Z [8,094ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:30Z [8,094ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:30Z [8,096ms] [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          | Yes: 0 |     | 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          |        |     | 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: 917055
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:36Z [14,554ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:36Z [14,554ms] [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 
+     0 896.20   5.44   2.23   3.21   8.69  19.65  20.96  22.11 
+     1   3.70 902.66   4.30   4.33   5.52  17.60  21.71  21.51 
+     2   2.14   5.81 900.06   2.23   4.78  16.41  21.76  21.92 
+     3   6.68  10.30   9.67 884.27   6.28  14.37  12.32  12.69 
+     4   9.64   3.31  13.24   6.73 883.55   6.65  12.66  11.08 
+     5  10.79  13.58   7.40   8.99   4.42 896.44  12.59  14.03 
+     6  15.87   9.01   5.85   8.01   7.49  10.38 884.27   3.79 
+     7   7.69   8.46   6.43   4.38   8.34  14.99   2.85 863.74 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  16.15  15.83  16.59  18.74  20.64  44.34 354.26 
+     1 120.80   1.38  21.05  24.46  43.73  24.49  20.47  19.84 
+     2  92.45  31.87   1.42  14.24  27.85  16.56  14.24  11.27 
+     3  30.95  71.58  15.49   1.42  24.03  16.40  14.47  14.81 
+     4 146.96 582.54 579.00 798.99   1.92 185.64 239.04 460.22 
+     5  84.68  14.59  14.55  51.96  40.00   1.38  14.60  42.20 
+     6  55.43  94.51  61.54  64.21  57.18  28.10   1.50  56.19 
+     7  38.53  11.13  92.79  12.20  13.03 691.79  23.15   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.96   9.29   9.07   9.14   8.30   8.02   8.70   8.56 
+     1   9.79   3.05   9.48   9.19   8.64  10.63   8.54   8.36 
+     2   9.65   9.12   2.78   8.90   8.76   8.62   8.55   8.43 
+     3   9.77   9.47   9.38   2.93   8.76   8.68   8.68   8.37 
+     4   9.28   9.10   9.30   8.99   2.87   8.04   7.94   7.82 
+     5   8.80   8.47   8.58   8.47   7.86   2.53   7.98   7.71 
+     6   9.12   8.76   8.76   8.97   8.10   7.65   2.69   7.85 
+     7   8.85   8.64   9.02   8.61   7.89   7.81   7.80   2.68 
+2026-11-03T14:47:44Z [22,378ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.1 GB/s.
+2026-11-03T14:47:44Z [22,378ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 799.0 us.
+2026-11-03T14:47:44Z [22,379ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [26,388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [26,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,528ms] [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)
+2026-11-03T14:47:48Z [26,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,548ms] [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)
+2026-11-03T14:47:49Z [26,777ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,783ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,783ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,788ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,788ms] [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)
+2026-11-03T14:47:50Z [28,097ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [30,800ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [44,210ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:07Z [45,703ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [62,256ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [62,844ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [68,370ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,371ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,372ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [68,381ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [68,577ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,578ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T14:48:46Z [83,927ms] [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@ <0x5558eab980d0>)
+
+2026-11-03T14:48:46Z [83,927ms] [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@ <0x5558eab980d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T14:48:50Z [88,263ms] [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 : 0.725310 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:48:57Z [94,937ms] [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.
+2026-11-03T14:48:57Z [94,938ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [95,021ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:48:57Z [95,021ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [95,032ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:48:57Z [95,041ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:48:57Z [95,308ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:57Z [95,382ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [98,096ms] [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((70))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,096ms] [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((70))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,103ms] [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((73))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,103ms] [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((73))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,122ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,122ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,136ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:00Z [98,136ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:02Z [99,999ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T14:49:02Z [99,999ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,003ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,003ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,004ms] [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((104))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,005ms] [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((104))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,818ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,818ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__blue_plasticpail/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,852ms] [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.
+2026-11-03T14:49:03Z [100,853ms] [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.
+2026-11-03T14:49:03Z [100,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,856ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,859ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,860ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((122))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,865ms] [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((124))' not available in the MDL representation.
+2026-11-03T14:49:03Z [100,865ms] [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((124))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,573ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,574ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,844ms] [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((155))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,845ms] [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((155))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,189ms] [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((193))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,189ms] [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((193))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,544ms] [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((224))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,544ms] [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((224))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,881ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((235))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,882ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((235))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,891ms] [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((239))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,891ms] [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((239))' not available in the MDL representation.
+2026-11-03T14:49:07Z [105,529ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:08Z [105,978ms] [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((70))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,978ms] [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((70))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,980ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((80))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,983ms] [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.
+2026-11-03T14:49:08Z [105,984ms] [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.
+2026-11-03T14:49:08Z [105,985ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,985ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((129))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,991ms] [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((224))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,991ms] [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((224))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,992ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((235))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,992ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((235))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 17.026406 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_multiact/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: 529, duration: 35.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.460479329405935, 'joint_sparc_mean': -12.163780873610813, 'ee_isj': 2778.0193082597198, 'joint_isj': 149901.71645817446, 'ee_path_length': 4.51538154147018, 'joint_rmse_mean': 1.0327153471181212, 'ee_speed_max': 0.5944384932518005, 'ee_speed_mean': 0.12047435343265533}, events: {'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 870.152, 'policy_inference_avg_ms': 1644.9, 'env_step_s': 169.552, 'env_step_avg_ms': 320.5, 'video_write_s': 4.633, 'video_write_avg_ms': 8.8, 'wall_total_s': 1044.337, 'it_per_sec': 0.51}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 332fb8010ea14d20b3f7836ecd8531f0-0
+[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_multiact/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: 561, duration: 37.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -11.779332282006944, 'joint_sparc_mean': -15.864080289085281, 'ee_isj': 2512.9204996028466, 'joint_isj': 171925.16164812804, 'ee_path_length': 4.2989187087570055, 'joint_rmse_mean': 1.031813125568097, 'ee_speed_max': 0.5765455365180969, 'ee_speed_mean': 0.10753635317087173}, events: {'GRIPPER_HIT_TABLE': 4, 'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 5}, instruction_type: default, timing: {'policy_inference_s': 1145.692, 'policy_inference_avg_ms': 2042.2, 'env_step_s': 182.107, 'env_step_avg_ms': 324.6, 'video_write_s': 4.979, 'video_write_avg_ms': 8.9, 'wall_total_s': 1332.777, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 08d28bb3aff040cda2710597759c3a87-1
+[RoboLab] Running PlasticBottlesInSquarePailTask_2: 'Put all the small plastic bottles in the square pail' (run 2, 1 envs)
+
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+2026-11-03T16:19:22Z [5,520,236ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T16:19:26Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:19:56Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+[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_20261103_162001.log
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T16:20:01Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [40ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [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'
+2026-11-03T16:20:01Z [63ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T16:20:06Z [4,826ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:06Z [4,827ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:06Z [4,927ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T16:20:07Z [5,745ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:07Z [5,746ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:07Z [5,747ms] [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          | Yes: 0 |     | 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          |        |     | 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: 859751
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T16:20:09Z [7,899ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T16:20:09Z [7,900ms] [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  15.77  17.66  16.45  21.61  22.15  21.91  22.47 
+     1  18.91 918.04  16.54  18.92  22.19  22.58  20.70  22.37 
+     2  17.89  17.58 919.17  17.95  20.62  22.19  20.69  22.35 
+     3  17.50  18.60  18.86 917.97  21.11  22.20  22.30  22.21 
+     4  22.23  20.67  22.33  22.46 917.82  18.83  18.64  16.90 
+     5  22.28  21.89  22.41  21.08  20.43 919.12  19.51  18.53 
+     6  22.09  20.53  22.42  22.23  18.59  19.71 919.12  17.54 
+     7  22.25  20.98  22.23  22.32  17.67  20.10  19.40 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.56  11.85  12.25  11.74  11.65  11.85  11.57  11.57 
+     1  11.60   1.38  12.70  11.52  12.56  12.39  12.45  12.50 
+     2  12.67  11.59   1.34  11.47  11.45  11.97  11.54  11.56 
+     3  12.84  11.56  12.22   1.46  11.41  12.15  11.55  11.51 
+     4  12.21  11.67  11.36  11.70   1.44  12.29  11.56  11.53 
+     5  11.48  11.39  11.39  11.67  11.42   1.46  18.10  11.66 
+     6  11.96  11.62  12.92  11.93  11.57  12.91   1.39  11.59 
+     7  11.49  11.40  11.46  11.34  11.52  13.78  13.34   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.00  10.02  10.19   9.65  11.05   9.97   9.73   9.48 
+     1   9.84   3.15   9.27   9.34  11.01   9.62   9.54   9.44 
+     2   9.70   9.14   3.21  10.38  11.28  10.57   9.74   9.44 
+     3   9.37   9.16   9.07   2.87  11.15   9.84   9.71   9.52 
+     4  10.53  10.20  10.22  10.36   3.45  10.79  10.96  10.56 
+     5   9.50   9.13   9.19   9.26  11.45   2.75   9.90  11.71 
+     6   9.65   9.20   9.46   9.42  11.38  10.07   3.04  10.51 
+     7   9.62   9.03   9.21   9.27  11.26   9.94  10.02   2.79 
+2026-11-03T16:20:11Z [10,571ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.8 GB/s.
+2026-11-03T16:20:11Z [10,571ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.1 us.
+2026-11-03T16:20:11Z [10,571ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T16:20:15Z [13,976ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [13,977ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:15Z [14,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [14,068ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:15Z [14,078ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [14,078ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:15Z [14,259ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [14,259ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:15Z [14,264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [14,264ms] [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)
+2026-11-03T16:20:15Z [14,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:20:15Z [14,270ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:20:16Z [15,238ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T16:20:20Z [19,047ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T16:20:30Z [29,229ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T16:20:31Z [30,407ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T16:20:45Z [43,904ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T16:20:45Z [44,441ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T16:20:48Z [47,642ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:20:48Z [47,643ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:20:48Z [47,644ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:20:48Z [47,662ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T16:20:48Z [47,682ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:20:48Z [47,682ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T16:21:04Z [62,920ms] [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@ <0x561ac24a50c0>)
+
+2026-11-03T16:21:04Z [62,921ms] [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@ <0x561ac24a50c0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/robolab
+══════════════════════════════════════════════════════════════
+Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T16:21:08Z [66,897ms] [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 : 0.483990 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:21:13Z [72,382ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:21:13Z [72,383ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:21:13Z [72,447ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:21:13Z [72,448ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:21:13Z [72,455ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:21:13Z [72,462ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:21:13Z [72,650ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:21:13Z [72,689ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:21:17Z [76,432ms] [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((46))' not available in the MDL representation.
+2026-11-03T16:21:17Z [76,433ms] [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((46))' not available in the MDL representation.
+2026-11-03T16:21:17Z [76,502ms] [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((58))' not available in the MDL representation.
+2026-11-03T16:21:17Z [76,502ms] [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((58))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,839ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,840ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,842ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,842ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,858ms] [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((92))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,858ms] [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((92))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,930ms] [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((99))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,930ms] [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((99))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,938ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,938ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,971ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:21:20Z [78,972ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,018ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,018ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,024ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,025ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((138))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,029ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,030ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,041ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,042ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,142ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,143ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,157ms] [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((173))' not available in the MDL representation.
+2026-11-03T16:21:20Z [79,157ms] [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((173))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,239ms] [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((208))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,240ms] [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((208))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,257ms] [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((216))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,257ms] [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((216))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,373ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/World/envs/env_0/scene/plasticpail_a02/Looks/Variants/opaque__plastic__orange_plasticpail/Shader::::OmniPBR::OmniPBR((234))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,434ms] [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((256))' not available in the MDL representation.
+2026-11-03T16:21:23Z [82,434ms] [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((256))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,154ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T16:21:24Z [83,474ms] [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((58))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,474ms] [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((58))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,476ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,476ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((83))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,479ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,479ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((113))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,481ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,481ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,483ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,483ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,488ms] [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((234))' not available in the MDL representation.
+2026-11-03T16:21:24Z [83,488ms] [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((234))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.195564 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] 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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+2026-11-03T17:11:28Z [3,086,784ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T17:11:31Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T17:12:31Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+[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_20261103_171236.log
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [32ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T17:12:36Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T17:12:36Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [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'
+2026-11-03T17:12:36Z [68ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T17:12:41Z [4,981ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:41Z [4,981ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:41Z [5,074ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T17:12:42Z [5,911ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:42Z [5,912ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:42Z [5,913ms] [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          | Yes: 0 |     | 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          |        |     | 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: 857881
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T17:12:44Z [8,194ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T17:12:44Z [8,194ms] [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 
+     0 911.83  22.12  21.95  21.95  20.39  22.28  20.45  22.13 
+     1  22.08 920.74  22.10  21.97  20.30  22.14  20.19  22.25 
+     2  22.11  21.83 916.81  22.35  20.12  22.47  21.91  22.48 
+     3  22.20  21.59  22.22 916.42  20.10  22.25  21.84  22.54 
+     4  20.11  19.84  19.31  19.13 920.69  18.71  17.49  16.92 
+     5  21.23  20.26  19.90  20.04  19.68 919.69  19.44  18.93 
+     6  20.16  18.90  18.97  19.05  18.92  18.33 919.66  18.38 
+     7  20.21  20.09  19.75  19.45  17.57  19.11  18.37 922.37 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.45  12.42  11.02  11.29  11.45  14.30  12.70  16.36 
+     1  11.45   1.48  14.20  11.91  15.57  13.91  15.48  15.10 
+     2  11.59  16.96   1.34  10.66  13.66  13.45  15.61  14.47 
+     3  11.59  11.93  13.11   1.44  12.76  16.26  14.92  13.66 
+     4  11.90  12.76  13.64  11.45   1.44  11.84  13.08  12.64 
+     5  19.78  12.85  11.99  12.51  11.51   1.47  12.35  11.96 
+     6  11.39  11.39  11.69  12.06  11.65  11.56   1.39  12.13 
+     7  11.37  12.98  16.27  16.25  13.46  13.33  12.91   1.40 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.40   7.36   6.93   7.09   7.62   7.39   7.54   7.58 
+     1   7.75   2.55   7.95   7.29   9.12   8.85   8.95   8.94 
+     2   7.53   7.28   2.33   8.49   8.54   8.35   8.42   8.25 
+     3   6.89   6.81   6.91   2.21   8.29   8.33   8.46   8.31 
+     4   8.05   7.78   7.93   8.20   2.89   9.80   9.72   9.71 
+     5   8.24   8.09   8.01   8.16   9.76   2.95   9.78   9.69 
+     6   8.24   8.20   8.12   7.99   9.88   9.75   2.96   9.72 
+     7   8.21   8.14   8.09   7.98   9.80   9.67   9.83   2.89 
+2026-11-03T17:12:47Z [10,823ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.9 GB/s.
+2026-11-03T17:12:47Z [10,823ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.8 us.
+2026-11-03T17:12:47Z [10,824ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T17:12:50Z [14,389ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:50Z [14,390ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:50Z [14,482ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:50Z [14,482ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:50Z [14,496ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:50Z [14,496ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:51Z [14,711ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:51Z [14,711ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:12:51Z [14,717ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:51Z [14,718ms] [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)
+2026-11-03T17:12:51Z [14,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:12:51Z [14,724ms] [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)
+2026-11-03T17:12:52Z [15,686ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T17:12:55Z [19,116ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T17:13:06Z [30,222ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T17:13:07Z [31,372ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T17:13:21Z [45,180ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T17:13:22Z [45,690ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T17:13:25Z [48,857ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:13:25Z [48,858ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:13:25Z [48,861ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:13:25Z [48,892ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T17:13:25Z [48,906ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:13:25Z [48,906ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T17:13:40Z [63,659ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/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@ <0x558078eb34e0>)
+
+2026-11-03T17:13:40Z [63,660ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x558078eb34e0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/robolab
+══════════════════════════════════════════════════════════════
+Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T17:13:44Z [67,593ms] [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 : 0.512387 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:13:49Z [73,214ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:13:49Z [73,215ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:13:49Z [73,282ms] [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.
+2026-11-03T17:13:49Z [73,282ms] [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.
+2026-11-03T17:13:49Z [73,290ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:13:49Z [73,297ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:13:49Z [73,485ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:13:49Z [73,514ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:13:50Z [74,542ms] [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((17))' not available in the MDL representation.
+2026-11-03T17:13:50Z [74,543ms] [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((17))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,581ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,581ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,637ms] [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((45))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,638ms] [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((45))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,665ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,666ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((56))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,669ms] [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((58))' not available in the MDL representation.
+2026-11-03T17:13:52Z [75,670ms] [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((58))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,607ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,607ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,622ms] [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((79))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,622ms] [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((79))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,647ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,647ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,870ms] [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((100))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,870ms] [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((100))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,882ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T17:13:53Z [76,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,250ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,250ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,257ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,257ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,268ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,268ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,309ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T17:13:53Z [77,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,329ms] [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((202))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,329ms] [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((202))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,346ms] [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((211))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,346ms] [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((211))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,375ms] [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((218))' not available in the MDL representation.
+2026-11-03T17:13:54Z [78,375ms] [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((218))' not available in the MDL representation.
+2026-11-03T17:13:56Z [79,755ms] [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((222))' not available in the MDL representation.
+2026-11-03T17:13:56Z [79,755ms] [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((222))' not available in the MDL representation.
+2026-11-03T17:13:59Z [83,506ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T17:14:00Z [83,820ms] [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((17))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,821ms] [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((17))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,822ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,822ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((25))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,824ms] [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((45))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,824ms] [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((45))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,828ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((101))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,830ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,830ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,832ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T17:14:00Z [83,832ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.814529 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] 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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+2026-11-03T18:34:07Z [4,891,198ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:34:11Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T18:36:11Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+[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_20261103_183616.log
+2026-11-03T18:36:16Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T18:36:16Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T18:36:16Z [16ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T18:36:16Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [34ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T18:36:16Z [38ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:16Z [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'
+2026-11-03T18:36:21Z [4,721ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:21Z [4,722ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:21Z [4,811ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:36:22Z [5,575ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:22Z [5,577ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:22Z [5,581ms] [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          | Yes: 0 |     | 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          |        |     | 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: 864937
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:36:24Z [7,805ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:36:24Z [7,805ms] [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 
+     0 913.06  16.41  17.76  16.43  18.45  18.49  18.35  17.92 
+     1  18.76 919.66  18.04  18.87  19.32  19.63  19.49  18.57 
+     2  17.66  17.63 916.96  18.01  17.95  18.81  18.53  17.73 
+     3  17.44  18.64  18.95 918.58  18.80  19.69  19.52  18.77 
+     4  22.13  20.37  22.17  22.51 923.19  22.25  21.66  22.53 
+     5  20.71  22.26  20.62  22.48  22.25 919.20  21.91  22.15 
+     6  20.10  22.38  19.98  22.01  22.25  21.96 918.16  21.53 
+     7  20.21  22.16  20.60  22.32  22.48  22.19  22.22 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.45  12.08  11.56  14.44  15.45  12.19  14.79 
+     1  12.14   1.37  12.61  11.59  15.08  11.94  11.44  11.74 
+     2  11.67  11.56   1.34  11.55  11.55  13.17  12.70  14.94 
+     3  17.46  11.81  11.67   1.44  15.42  14.59  14.55  12.99 
+     4  15.20  13.07  14.34  13.29   1.43  11.72  10.27  10.56 
+     5  14.73  14.94  12.82  15.60  10.34   1.46  11.48  13.17 
+     6  17.00  17.95  16.75  16.74  13.44  13.73   1.38  11.14 
+     7  12.79  13.45  13.23  15.89  10.34  13.66  12.05   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.94   9.72  14.75   9.56   7.90   8.16   8.55   8.31 
+     1  10.39   2.92  10.08  12.30   7.86   7.73   7.84   7.84 
+     2   9.94   9.46   2.83   9.48   7.94   7.83   7.88   7.85 
+     3   9.65   9.40   9.55   2.84   8.00   8.27   7.97   7.71 
+     4   8.55   8.38   8.45   8.42   2.27   6.75   7.00   6.65 
+     5   8.47   8.28   8.42   9.13   6.71   2.23   6.78   6.72 
+     6   8.55   8.56   8.50   8.45   6.88   6.69   2.28   6.80 
+     7   8.38   8.35   8.69   8.30   6.67   8.57   6.81   2.23 
+2026-11-03T18:36:27Z [10,475ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.4 GB/s.
+2026-11-03T18:36:27Z [10,475ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.0 us.
+2026-11-03T18:36:27Z [10,475ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:36:30Z [13,906ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [13,906ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:30Z [14,008ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [14,008ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:30Z [14,019ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [14,019ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:30Z [14,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [14,201ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:30Z [14,207ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [14,207ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:30Z [14,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:36:30Z [14,214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:36:31Z [15,164ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:36:34Z [18,323ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:36:44Z [28,294ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:36:46Z [29,659ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T18:36:59Z [42,947ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T18:37:00Z [43,435ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T18:37:03Z [46,579ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:37:03Z [46,580ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:37:03Z [46,583ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:37:03Z [46,601ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T18:37:03Z [46,620ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:37:03Z [46,620ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T18:37:18Z [61,584ms] [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@ <0x560fc02221d0>)
+
+2026-11-03T18:37:18Z [61,585ms] [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@ <0x560fc02221d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/robolab
+══════════════════════════════════════════════════════════════
+Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T18:37:22Z [65,359ms] [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 : 0.478269 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:37:27Z [70,506ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:37:27Z [70,506ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:37:27Z [70,577ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:37:27Z [70,577ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:37:27Z [70,585ms] [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.
+2026-11-03T18:37:27Z [70,593ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:37:27Z [70,798ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:37:27Z [70,831ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:37:30Z [73,626ms] [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((53))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,626ms] [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((53))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,900ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,918ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,919ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,920ms] [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((91))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,920ms] [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((91))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,931ms] [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.
+2026-11-03T18:37:30Z [73,931ms] [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.
+2026-11-03T18:37:30Z [73,933ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,933ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,942ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T18:37:30Z [73,942ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T18:37:31Z [74,888ms] [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((127))' not available in the MDL representation.
+2026-11-03T18:37:31Z [74,888ms] [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((127))' not available in the MDL representation.
+2026-11-03T18:37:31Z [74,913ms] [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.
+2026-11-03T18:37:31Z [74,913ms] [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.
+2026-11-03T18:37:31Z [74,955ms] [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((152))' not available in the MDL representation.
+2026-11-03T18:37:31Z [74,955ms] [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((152))' not available in the MDL representation.
+2026-11-03T18:37:31Z [75,210ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T18:37:31Z [75,210ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T18:37:31Z [75,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T18:37:31Z [75,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T18:37:32Z [75,449ms] [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((171))' not available in the MDL representation.
+2026-11-03T18:37:32Z [75,449ms] [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((171))' not available in the MDL representation.
+2026-11-03T18:37:33Z [76,573ms] [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((216))' not available in the MDL representation.
+2026-11-03T18:37:33Z [76,574ms] [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((216))' not available in the MDL representation.
+2026-11-03T18:37:34Z [78,093ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-03T18:37:34Z [78,093ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((226))' not available in the MDL representation.
+2026-11-03T18:37:35Z [79,281ms] [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((243))' not available in the MDL representation.
+2026-11-03T18:37:35Z [79,281ms] [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((243))' not available in the MDL representation.
+2026-11-03T18:37:35Z [79,314ms] [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((251))' not available in the MDL representation.
+2026-11-03T18:37:35Z [79,314ms] [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((251))' not available in the MDL representation.
+2026-11-03T18:37:36Z [79,604ms] [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((273))' not available in the MDL representation.
+2026-11-03T18:37:36Z [79,604ms] [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((273))' not available in the MDL representation.
+2026-11-03T18:37:36Z [80,281ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T18:37:37Z [80,611ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,611ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,612ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,612ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,616ms] [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.
+2026-11-03T18:37:37Z [80,616ms] [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.
+2026-11-03T18:37:37Z [80,618ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,618ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,622ms] [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((216))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,622ms] [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((216))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,625ms] [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((251))' not available in the MDL representation.
+2026-11-03T18:37:37Z [80,625ms] [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((251))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 14.872526 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] 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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+2026-11-03T19:33:27Z [3,430,976ms] [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.
+[2026-11-03T19:33:31Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 4/10 in 240s
+[2026-11-03T19:37:31Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+[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_20261103_193736.log
+2026-11-03T19:37:36Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T19:37:36Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T19:37:36Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T19:37:36Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T19:37:36Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T19:37:36Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T19:37:36Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T19:37:36Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T19:37:36Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T19:37:36Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T19:37:36Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T19:37:36Z [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'
+2026-11-03T19:37:36Z [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'
+2026-11-03T19:37:36Z [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'
+2026-11-03T19:37:36Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T19:37:36Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T19:37:36Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T19:37:41Z [4,738ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:41Z [4,739ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:41Z [4,820ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T19:37:42Z [5,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:42Z [5,558ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:42Z [5,560ms] [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          | Yes: 0 |     | 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          |        |     | 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: 863483
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T19:37:44Z [7,656ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T19:37:44Z [7,657ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.65  15.67  22.04  21.84  19.66  22.22  21.89  22.29 
+     1  22.21 919.66  21.95  22.04  19.83  22.47  20.56  22.36 
+     2  22.42  16.90 919.12  22.41  20.94  22.37  22.29  20.28 
+     3  22.26  17.70  22.02 918.58  22.29  20.74  22.03  21.96 
+     4  18.23  22.23  17.55  18.23 921.51  16.67  17.45  16.35 
+     5  19.37  21.74  19.30  18.47  18.52 919.66  17.81  18.48 
+     6  17.99  21.94  17.87  16.69  17.17  16.93 916.99  17.21 
+     7  18.40  22.35  19.02  18.74  17.04  18.08  17.52 919.25 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  20.14  13.31  11.63  12.45  11.44  11.72  12.62 
+     1  13.66   1.50  11.49  14.71  13.23  17.54  14.90  11.38 
+     2  11.44  12.14   1.37  17.22  14.94  15.71  14.76  12.28 
+     3  20.53  19.87  19.80   1.35  13.05  14.48  15.16  14.64 
+     4  12.37  12.28  11.67  11.35   1.48  11.71  12.44  12.84 
+     5  12.31  20.58  12.25  12.07  12.28   1.50  12.11  11.88 
+     6  11.65  45.14  12.09  11.58  12.18  12.73   1.45  12.19 
+     7  11.40  11.48  11.53  12.23  12.13  15.86  12.18   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.11   9.76   9.94   9.45   8.34   8.29   8.37   8.27 
+     1   9.38   2.75   9.30   8.98  10.69  12.55  10.29  10.20 
+     2  12.74  12.30   3.81  12.47  10.46  10.32  10.16  10.03 
+     3  12.49  12.15  11.91   3.72  10.46  10.91  10.48  10.12 
+     4  11.03  10.77  11.11  10.72   2.98  15.22   9.16   8.88 
+     5  10.98  10.72  12.08  10.92   8.92   3.20   8.98   9.02 
+     6  10.88  10.73  11.51  10.69   8.98   8.96   3.03   9.04 
+     7  11.03  12.50  11.03  10.87   9.07   9.18   8.88   2.99 
+2026-11-03T19:37:46Z [10,386ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.7 GB/s.
+2026-11-03T19:37:46Z [10,386ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 45.1 us.
+2026-11-03T19:37:46Z [10,386ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T19:37:50Z [13,670ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,671ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:50Z [13,768ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,768ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:50Z [13,778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:50Z [13,963ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,964ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:50Z [13,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,969ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:50Z [13,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:37:50Z [13,974ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:37:51Z [14,914ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T19:37:54Z [18,184ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T19:38:04Z [28,184ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T19:38:05Z [29,384ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T19:38:18Z [41,529ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T19:38:18Z [41,532ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T19:38:18Z [42,027ms] [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.
+2026-11-03T19:38:21Z [45,111ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:38:21Z [45,112ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:38:21Z [45,115ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:38:21Z [45,142ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T19:38:21Z [45,155ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:38:21Z [45,155ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 4 task(s): ['PlasticBottlesInSquarePailTask', 'OneBottleInSquarePailTask', 'BananasInBinThreeTotalTask', 'BowlStackingRightOnLeftTask']
+2026-11-03T19:38:36Z [59,652ms] [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@ <0x56434b6d7120>)
+
+2026-11-03T19:38:36Z [59,653ms] [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@ <0x56434b6d7120>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Environments   : PlasticBottlesInSquarePailTask, OneBottleInSquarePailTask, BananasInBinThreeTotalTask, BowlStackingRightOnLeftTask
+  Num Tasks      : 4
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/robolab
+══════════════════════════════════════════════════════════════
+Loaded 2 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T19:38:40Z [63,514ms] [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 : 0.537758 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:38:45Z [69,203ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:38:45Z [69,204ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:38:45Z [69,275ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:38:45Z [69,275ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:38:45Z [69,284ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:38:45Z [69,292ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:38:45Z [69,486ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:38:46Z [69,506ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:38:47Z [71,333ms] [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((14))' not available in the MDL representation.
+2026-11-03T19:38:47Z [71,333ms] [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((14))' not available in the MDL representation.
+2026-11-03T19:38:47Z [71,383ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-03T19:38:47Z [71,383ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-03T19:38:50Z [73,506ms] [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((45))' not available in the MDL representation.
+2026-11-03T19:38:50Z [73,507ms] [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((45))' not available in the MDL representation.
+2026-11-03T19:38:50Z [74,484ms] [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((61))' not available in the MDL representation.
+2026-11-03T19:38:50Z [74,484ms] [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((61))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,054ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,054ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,113ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,113ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((84))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,180ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T19:38:52Z [76,181ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,089ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,090ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,104ms] [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((125))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,104ms] [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((125))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,106ms] [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((126))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,106ms] [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((126))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,115ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,115ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,142ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,142ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,216ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:38:53Z [77,216ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,498ms] [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((195))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,498ms] [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((195))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,502ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,502ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((197))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,530ms] [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((212))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,530ms] [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((212))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,861ms] [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((251))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,861ms] [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((251))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,889ms] [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((267))' not available in the MDL representation.
+2026-11-03T19:38:54Z [77,889ms] [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((267))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,654ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T19:38:56Z [79,969ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,969ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((23))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,971ms] [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((45))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,971ms] [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((45))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,973ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,973ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((68))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,977ms] [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((125))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,977ms] [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((125))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,979ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,979ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,981ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:38:56Z [79,981ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.023786 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] 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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  1%|          | 29/2700 [01:57<23:08,  1.92it/s]2026-11-03T19:40:55Z [199,104ms] [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_multiact/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: 337, duration: 22.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.295567480720932, 'joint_sparc_mean': -8.743309361713424, 'ee_isj': 2507.788320438416, 'joint_isj': 95712.34891280028, 'ee_path_length': 3.600110162639386, 'joint_rmse_mean': 1.000945051125295, 'ee_speed_max': 0.553516149520874, 'ee_speed_mean': 0.14957855641841888}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 609.933, 'policy_inference_avg_ms': 1809.9, 'env_step_s': 109.338, 'env_step_avg_ms': 324.4, 'video_write_s': 3.037, 'video_write_avg_ms': 9.0, 'wall_total_s': 722.307, 'it_per_sec': 0.47}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 738e0efa864742e1aa6d18dd81c91736-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:51:33Z [836,676ms] [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 : 0.226887 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:51:35Z [838,967ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:51:35Z [838,967ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:51:35Z [838,977ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:51:35Z [838,977ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:51:35Z [838,985ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:51:35Z [838,992ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:51:35Z [839,011ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T19:51:35Z [839,222ms] [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((281))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,222ms] [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((281))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,271ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((290))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,271ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((290))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,351ms] [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((310))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,352ms] [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((310))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,372ms] [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((319))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,372ms] [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((319))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,417ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,417ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((349))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_738dcdb2/Shader::::OmniPBR::OmniPBR((349))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,490ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-03T19:51:35Z [839,490ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,541ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,541ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,552ms] [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((387))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,552ms] [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((387))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,554ms] [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((388))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,554ms] [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((388))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,566ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,566ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e50bd653/Shader::::OmniPBR::OmniPBR((394))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,593ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,630ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,630ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,696ms] [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((455))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,696ms] [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((455))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,737ms] [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((474))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,737ms] [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((474))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,752ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((484))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,752ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((484))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,813ms] [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((516))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,813ms] [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((516))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,844ms] [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((533))' not available in the MDL representation.
+2026-11-03T19:51:36Z [839,845ms] [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((533))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,451ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((290))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,452ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((290))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,454ms] [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((310))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,454ms] [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((310))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,458ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,458ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((361))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,460ms] [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((387))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,461ms] [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((387))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,462ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,462ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((404))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,464ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+2026-11-03T19:51:36Z [840,464ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((420))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.670779 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_multiact/gpu_0/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: 273, duration: 18.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.509907991981521, 'joint_sparc_mean': -6.886169142591202, 'ee_isj': 806.9063673018466, 'joint_isj': 92375.97777324173, 'ee_path_length': 1.7121740053166001, 'joint_rmse_mean': 1.4193427908013323, 'ee_speed_max': 0.3576697111129761, 'ee_speed_mean': 0.08744454383850098}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 511.953, 'policy_inference_avg_ms': 1875.3, 'env_step_s': 86.044, 'env_step_avg_ms': 315.2, 'video_write_s': 2.362, 'video_write_avg_ms': 8.7, 'wall_total_s': 600.359, 'it_per_sec': 0.45}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: cbc51ba782744c1a859a401c532237d3-0
+[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_multiact/gpu_0/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: 225, duration: 15.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.237741439945765, 'joint_sparc_mean': -8.036439353695725, 'ee_isj': 1855.110402718369, 'joint_isj': 73432.37787754793, 'ee_path_length': 2.5246437490466973, 'joint_rmse_mean': 0.9190801166515319, 'ee_speed_max': 0.6252623200416565, 'ee_speed_mean': 0.15896274149417877}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 595.664, 'policy_inference_avg_ms': 2647.4, 'env_step_s': 70.381, 'env_step_avg_ms': 312.8, 'video_write_s': 1.977, 'video_write_avg_ms': 8.8, 'wall_total_s': 668.021, 'it_per_sec': 0.34}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 31d3266fd6354940bb9a2a5c4b2a5e47-1
+[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_multiact/gpu_0/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: 173, duration: 11.533333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.348423615732978, 'joint_sparc_mean': -8.234120389624799, 'ee_isj': 1003.0603264335386, 'joint_isj': 19061.034816114763, 'ee_path_length': 1.6823102652865125, 'joint_rmse_mean': 1.039888935302644, 'ee_speed_max': 0.3441440761089325, 'ee_speed_mean': 0.13851948082447052}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 509.65, 'policy_inference_avg_ms': 2946.0, 'env_step_s': 55.66, 'env_step_avg_ms': 321.7, 'video_write_s': 1.706, 'video_write_avg_ms': 9.9, 'wall_total_s': 567.016, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: c4b3db38d4da4dde820cc8f92a851ac5-2
+[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
+2026-11-03T20:23:44Z [2,767,891ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.199689 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:23:47Z [2,770,703ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T20:23:47Z [2,770,803ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:23:47Z [2,770,803ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:23:47Z [2,770,813ms] [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.
+2026-11-03T20:23:47Z [2,770,813ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:23:47Z [2,770,822ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:23:47Z [2,770,829ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:23:47Z [2,771,203ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-11-03T20:23:47Z [2,771,203ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-11-03T20:23:48Z [2,772,004ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+2026-11-03T20:23:48Z [2,772,004ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((634))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.041922 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_multiact/gpu_0/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: 473, duration: 31.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.50231148932568, 'joint_sparc_mean': -12.330934017193018, 'ee_isj': 1871.7936805432144, 'joint_isj': 102417.18028634909, 'ee_path_length': 3.687499600684155, 'joint_rmse_mean': 0.8580274897719491, 'ee_speed_max': 0.4586094319820404, 'ee_speed_mean': 0.11116249859333038}, events: {'TARGET_OBJECT_DROPPED': 9, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 854.429, 'policy_inference_avg_ms': 1806.4, 'env_step_s': 127.297, 'env_step_avg_ms': 269.1, 'video_write_s': 3.741, 'video_write_avg_ms': 7.9, 'wall_total_s': 985.467, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 0e0e3448bcd7409b94b5932aa1375fd7-0
+[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_multiact/gpu_0/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: True, episode_step: 172, duration: 11.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.7695687040029675, 'joint_sparc_mean': -7.250393223719269, 'ee_isj': 1052.8473124919294, 'joint_isj': 18204.643503539213, 'ee_path_length': 1.474768423923925, 'joint_rmse_mean': 1.024034195472432, 'ee_speed_max': 0.6515586972236633, 'ee_speed_mean': 0.12200020998716354}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 502.095, 'policy_inference_avg_ms': 2919.2, 'env_step_s': 46.439, 'env_step_avg_ms': 270.0, 'video_write_s': 2.034, 'video_write_avg_ms': 11.8, 'wall_total_s': 550.567, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e7ea93b494f34c5c9df14367693a6329-1
+[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_multiact/gpu_0/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: 103, duration: 6.866666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.032239235721883, 'joint_sparc_mean': -6.5463526112599, 'ee_isj': 466.28471561910146, 'joint_isj': 75080.43367025598, 'ee_path_length': 0.9342825163752799, 'joint_rmse_mean': 0.9427600072175814, 'ee_speed_max': 0.40964996814727783, 'ee_speed_mean': 0.12967263162136078}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 265.666, 'policy_inference_avg_ms': 2579.3, 'env_step_s': 28.019, 'env_step_avg_ms': 272.0, 'video_write_s': 1.365, 'video_write_avg_ms': 13.3, 'wall_total_s': 295.05, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 12e43cdfed3b4580aad3bf91c5873620-2
+[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
+2026-11-03T20:55:55Z [4,699,326ms] [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 : 0.221156 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:55:59Z [4,702,903ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:55:59Z [4,702,904ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:55:59Z [4,702,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:55:59Z [4,702,914ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:55:59Z [4,702,923ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:55:59Z [4,702,931ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:56:00Z [4,703,891ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-03T20:56:00Z [4,703,891ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-03T20:56:01Z [4,705,103ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+2026-11-03T20:56:01Z [4,705,103ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((925))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.649811 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_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_0_env0.json.
+BowlStackingRightOnLeftTask_0 complete: task_name: BowlStackingRightOnLeftTask, run_name: BowlStackingRightOnLeftTask_0, run: 0, env_id: 0, policy: harness, instruction: Stack the right bowl on the left bowl, attributes: ['spatial', 'simple'], success: True, episode_step: 142, duration: 9.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.555387834329674, 'joint_sparc_mean': -5.911981665778085, 'ee_isj': 1078.8311065315927, 'joint_isj': 19604.464555091898, 'ee_path_length': 1.5806813684394716, 'joint_rmse_mean': 0.9519485372590667, 'ee_speed_max': 0.4996134340763092, 'ee_speed_mean': 0.15463915467262268}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 2, 'WRONG_OBJECT_GRABBED': 1, 'OBJECT_BUMPED': 1, 'wrong_objects_grabbed': ['bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 415.352, 'policy_inference_avg_ms': 2925.0, 'env_step_s': 28.195, 'env_step_avg_ms': 198.6, 'video_write_s': 1.976, 'video_write_avg_ms': 13.9, 'wall_total_s': 445.522, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: b72beeb966794005ab1aff1ab8b0a72a-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_multiact/gpu_0/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: 127, duration: 8.466666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.4363784499928585, 'joint_sparc_mean': -4.493945058380708, 'ee_isj': 430.3203060749981, 'joint_isj': 12466.160072989172, 'ee_path_length': 1.0402686979866758, 'joint_rmse_mean': 0.9609169058207524, 'ee_speed_max': 0.3106338679790497, 'ee_speed_mean': 0.11286073178052902}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 433.072, 'policy_inference_avg_ms': 3410.0, 'env_step_s': 26.241, 'env_step_avg_ms': 206.6, 'video_write_s': 1.541, 'video_write_avg_ms': 12.1, 'wall_total_s': 460.854, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'stack_bowl_right_on_left' 1/1, harness_episode_id: 3f35b21d2ffd471090b2310483a6d470-1
+[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_multiact/gpu_0/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': -8.182188402651493, 'joint_sparc_mean': -9.676700526666759, 'ee_isj': 2223.779584031312, 'joint_isj': 71498.06410015153, 'ee_path_length': 3.0924554123737744, 'joint_rmse_mean': 1.0066340929726296, 'ee_speed_max': 0.5102653503417969, 'ee_speed_mean': 0.14397940039634705}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_FULLY_CLOSED': 6, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['bowl_2', 'bowl_2', 'bowl_2', 'bowl_2']}, instruction_type: default, timing: {'policy_inference_s': 951.209, 'policy_inference_avg_ms': 3170.7, 'env_step_s': 58.666, 'env_step_avg_ms': 195.6, 'video_write_s': 2.74, 'video_write_avg_ms': 9.1, 'wall_total_s': 1012.616, '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: 24216372a3144b2d884a8f6f28d1a14f-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 (4 tasks)                11/12    91.7%   [64.0-98.1]    0.917        0.000       18.88   -7.09    2.51       12.8        0.38 12.1       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananasInBinThreeTotalTask     3/3      100.0%  [39.8-99.4]    1.000        -           16.62   -6.77    2.03       12.1        0.38 10.2       
+BowlStackingRightOnLeftTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       8.97    -6.06    1.90       13.7        0.30 10.7       
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BananasInBinThreeTotalTask/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": "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_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3583d295428920827b4f8f9a675021dc20df6f2a
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BowlStackingRightOnLeftTask", "env_id": 0, "run": 0, "success": true, "final_step": 142, "events": [{"step": 40, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 83, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 89, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 133, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.281m", "score": 0.0}, {"step": 142, "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_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35f3a20154f1309c7272a04b8af7bc3c07401fd
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/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": 127, "events": [{"step": 36, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl_2'", "score": 0.0}, {"step": 60, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl_2' (target objects: ['conditions'])", "score": 0.0}, {"step": 60, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 90, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.191m", "score": 0.0}, {"step": 97, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.052m", "score": 0.0}, {"step": 106, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.069m", "score": 0.0}, {"step": 122, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl_2' nudged 0.097m", "score": 0.0}, {"step": 127, "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_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1923770fd690e71163ff532c1fd4b9677c718691
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/BowlStackingRightOnLeftTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_0_env0.json
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+++ b/harness_robolab_exploration/embo_multiact/gpu_0/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": 273, "events": [{"step": 82, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 226, "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": 273, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 273, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_2_env0.json
new file mode 100644
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+++ b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/run_0.hdf5 b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/OneBottleInSquarePailTask/run_0.hdf5
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_2_env0.json
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+version https://git-lfs.github.com/spec/v1
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+size 496275
diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5 b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..97811abb7da49ea14b29c67e91f4ed254b6e9bad
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/PlasticBottlesInSquarePailTask/run_2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 390885
diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/episode_results.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86afbedca7fc5249d06600898e6ee82b9b1276c1
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/robolab/episode_results.jsonl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:386b63a9f9fb7592026b7e8d554d4110b310840cb0f912764f8c9ce3024fd24a
+size 14238
diff --git a/harness_robolab_exploration/embo_multiact/gpu_0/server.log b/harness_robolab_exploration/embo_multiact/gpu_0/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..09b23c9b31fd53beccad1cff46fd0c8ac1797940
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_0/server.log
@@ -0,0 +1,244 @@
+[2026-11-03T14:47:17Z] 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_multiact/gpu_0/harness/20261103T144719.534865Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T144719.534865Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8000
+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', 33630) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 332fb8010ea14d20b3f7836ecd8531f0-0 (codex/gpt-6-astra) ended: wall=1044.688s harness=853.749s tokens=2807325 usage_complete=False decisions=67 executed_steps=529 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_multiact/gpu_0/harness/20261103T144719.534865Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 08d28bb3aff040cda2710597759c3a87-1 (codex/gpt-6-astra) ended: wall=1313.496s harness=1108.572s tokens=3797524 usage_complete=False decisions=71 executed_steps=561 steps_complete=True network_wait=19.651561804115772 rate_limit_wait=0 rate_limit_count=0 excluded=19.651561804115772 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T144719.534865Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4528300b5c4341fb85054ec16f6ba0f5-2 (codex/gpt-6-astra) execution_error: wall=2970.059s harness=2778.802s tokens=2888088 usage_complete=False decisions=68 executed_steps=544 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T144719.534865Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T16:19:26Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:19:56Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T161958.984772Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T161958.984772Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8000
+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', 39676) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e29aea49ac2546fba7b0302df09e68c1-2 (codex/gpt-6-astra) execution_error: wall=3000.690s harness=2782.891s tokens=2416259 usage_complete=False decisions=75 executed_steps=600 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T161958.984772Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T17:11:31Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T17:12:31Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T171234.289986Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T171234.289986Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8000
+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', 48210) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 95fb820f78d046ac8c42a12d580a1a23-2 (codex/gpt-6-astra) execution_error: wall=4803.296s harness=4273.755s tokens=7704209 usage_complete=False decisions=187 executed_steps=1496 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T171234.289986Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:34:11Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T18:36:11Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T183614.673624Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T183614.673624Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8000
+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', 44534) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 780f21e0e7834ab9ade19e63433f237d-2 (codex/gpt-6-astra) execution_error: wall=3347.450s harness=3088.506s tokens=4223994 usage_complete=False decisions=92 executed_steps=736 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T183614.673624Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T19:33:31Z] GPU 0: PlasticBottlesInSquarePailTask/2: client exited (status=0) with incomplete results; retry 4/10 in 240s
+[2026-11-03T19:37:31Z] GPU 0: Starting worker at PlasticBottlesInSquarePailTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8000
+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', 52198) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 738e0efa864742e1aa6d18dd81c91736-2 (codex/gpt-6-astra) ended: wall=722.526s harness=599.600s tokens=2178263 usage_complete=False decisions=43 executed_steps=337 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cbc51ba782744c1a859a401c532237d3-0 (codex/gpt-6-astra) ended: wall=600.525s harness=503.573s tokens=1887192 usage_complete=False decisions=35 executed_steps=273 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 31d3266fd6354940bb9a2a5c4b2a5e47-1 (codex/gpt-6-astra) ended: wall=622.368s harness=543.033s tokens=2214624 usage_complete=True decisions=29 executed_steps=225 steps_complete=True network_wait=45.785648711025715 rate_limit_wait=0 rate_limit_count=0 excluded=45.785648711025715 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c4b3db38d4da4dde820cc8f92a851ac5-2 (codex/gpt-6-astra) ended: wall=562.201s harness=499.221s tokens=1592304 usage_complete=True decisions=22 executed_steps=173 steps_complete=True network_wait=4.930022820830345 rate_limit_wait=0 rate_limit_count=0 excluded=4.930022820830345 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0e0e3448bcd7409b94b5932aa1375fd7-0 (codex/gpt-6-astra) ended: wall=985.752s harness=839.900s tokens=3181857 usage_complete=False decisions=60 executed_steps=473 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e7ea93b494f34c5c9df14367693a6329-1 (codex/gpt-6-astra) ended: wall=550.681s harness=496.569s tokens=1323152 usage_complete=False decisions=22 executed_steps=172 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 12e43cdfed3b4580aad3bf91c5873620-2 (codex/gpt-6-astra) ended: wall=295.113s harness=262.468s tokens=1055871 usage_complete=False decisions=13 executed_steps=103 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b72beeb966794005ab1aff1ab8b0a72a-0 (codex/gpt-6-astra) ended: wall=445.608s harness=410.779s tokens=770979 usage_complete=False decisions=18 executed_steps=142 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3f35b21d2ffd471090b2310483a6d470-1 (codex/gpt-6-astra) ended: wall=460.925s harness=429.128s tokens=1459633 usage_complete=True decisions=16 executed_steps=127 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_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 24216372a3144b2d884a8f6f28d1a14f-2 (codex/gpt-6-astra) ended: wall=1012.832s harness=941.698s tokens=3362687 usage_complete=False decisions=38 executed_steps=300 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_0/harness/20261103T193734.435264Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 52198) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/client.log b/harness_robolab_exploration/embo_multiact/gpu_1/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..ce8c56b2aad5820f4f6e8143b885941b5bb7881a
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/client.log
@@ -0,0 +1,2870 @@
+[2026-11-03T14:47:17Z] 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_20261103_144722.log
+2026-11-03T14:47:22Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:22Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:22Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:22Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:22Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:22Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:22Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:22Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:22Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:22Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:22Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:22Z [80ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:22Z [89ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:22Z [95ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:22Z [118ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:22Z [123ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:22Z [127ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:28Z [5,712ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:28Z [5,712ms] [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)
+2026-11-03T14:47:28Z [5,840ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:30Z [7,904ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:30Z [7,906ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:30Z [7,909ms] [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: 916941
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:36Z [14,375ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:36Z [14,377ms] [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 
+     0 910.48  21.91  21.96  12.39   4.76   6.47   5.37   3.13 
+     1   5.10 900.06   4.75   4.02   4.23   5.93   8.61  12.33 
+     2   3.29   2.32 906.77   2.29  15.72  15.22  14.09  10.92 
+     3   4.75  15.43  14.48 914.28  12.21  11.96  13.10  13.82 
+     4   4.95   3.77  10.43   6.86 889.25  11.47  11.40   9.63 
+     5  17.78   6.27   4.30   8.39   4.19 920.20   5.85  15.63 
+     6   8.50  10.59   7.76   8.74   8.22   8.06 896.96   3.86 
+     7   6.42   8.45  10.10   5.23   8.12  10.34   2.44 872.42 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  16.04  15.80  16.41  18.63  20.58  41.66 356.23 
+     1 117.53   1.41  26.91  23.96  43.03  24.35  20.65  19.20 
+     2  90.59  30.00   1.41   9.87  29.62  13.09  13.81  14.05 
+     3  27.93  71.09  16.53   1.41  26.95  15.75  14.49  14.36 
+     4 170.12 588.26 579.11 800.92   1.73 183.86 241.70 458.71 
+     5  78.62  10.30  14.17  62.61  38.48   1.43  11.00  34.03 
+     6  53.28  97.96  58.45  62.95  65.00  11.45   1.37  55.46 
+     7  32.76  16.56  89.43  16.91  12.47 708.25  12.35   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.52   7.54   7.28   7.20   8.02   7.70   8.44   8.44 
+     1   7.54   2.40   7.12   6.86   7.87   9.66   8.30   8.25 
+     2   7.50   7.22   2.45   7.10   7.94   7.76   8.32   8.19 
+     3   7.22   6.97   7.10   2.36   7.91   7.76   8.19   8.24 
+     4   7.97   7.81   7.65   7.63   2.76   8.34   8.99   8.79 
+     5   7.87   7.58   7.71   7.60   8.45   2.63   8.95   8.74 
+     6   8.26   8.17   8.19   8.06   9.06   8.59   3.02   9.25 
+     7   8.12   8.08   8.15   7.93   8.77   8.56   9.21   2.92 
+2026-11-03T14:47:44Z [22,375ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.3 GB/s.
+2026-11-03T14:47:44Z [22,375ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 800.9 us.
+2026-11-03T14:47:44Z [22,375ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [26,387ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [26,524ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,524ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [26,537ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,537ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,740ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,740ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,744ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,744ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,749ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,750ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [28,097ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [30,801ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [44,210ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [45,786ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [62,149ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [62,152ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [62,843ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [68,290ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,291ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,293ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [68,317ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [68,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T14:48:46Z [83,925ms] [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@ <0x5640eaa13d90>)
+
+2026-11-03T14:48:46Z [83,925ms] [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@ <0x5640eaa13d90>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T14:48:52Z [90,523ms] [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 : 2.411109 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:49:00Z [97,834ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [97,834ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,887ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [97,887ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,896ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,904ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:00Z [98,208ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [98,241ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:04Z [101,918ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,919ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,919ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,927ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,927ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,939ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,940ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:04Z [101,940ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:05Z [103,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T14:49:05Z [103,593ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,635ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,635ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,684ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,684ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,684ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,693ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-03T14:49:06Z [104,693ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-03T14:49:09Z [107,123ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:09Z [107,123ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:10Z [107,999ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:10Z [108,559ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,559ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,559ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((81))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,560ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,560ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((85))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,561ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,561ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,561ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,563ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,563ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,569ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,569ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((158))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,571ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,571ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,571ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((175))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,572ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((177))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,574ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((207))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.789112 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_multiact/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: True, episode_step: 116, duration: 7.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.9622192154889726, 'joint_sparc_mean': -4.68331020650203, 'ee_isj': 684.6261416363938, 'joint_isj': 14512.947542221506, 'ee_path_length': 1.2433982202974956, 'joint_rmse_mean': 0.9795275088649921, 'ee_speed_max': 0.531683087348938, 'ee_speed_mean': 0.1548139899969101}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 300.907, 'policy_inference_avg_ms': 2594.0, 'env_step_s': 75.304, 'env_step_avg_ms': 649.2, 'video_write_s': 1.312, 'video_write_avg_ms': 11.3, 'wall_total_s': 377.523, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: d31c22df32d14f5db1fb48247b8c8905-0
+[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_multiact/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: True, episode_step: 150, duration: 10.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.373456105415394, 'joint_sparc_mean': -4.845431243389517, 'ee_isj': 612.9089709336147, 'joint_isj': 9584.710967268198, 'ee_path_length': 1.3971137116246464, 'joint_rmse_mean': 0.9838897624137407, 'ee_speed_max': 0.3717424273490906, 'ee_speed_mean': 0.13237197697162628}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 385.888, 'policy_inference_avg_ms': 2572.6, 'env_step_s': 96.332, 'env_step_avg_ms': 642.2, 'video_write_s': 1.496, 'video_write_avg_ms': 10.0, 'wall_total_s': 483.716, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: 0b8ed0979d934fb598c3644426ecf72b-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_multiact/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: True, episode_step: 221, duration: 14.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.065927806175335, 'joint_sparc_mean': -8.27367500619044, 'ee_isj': 1891.5967364660619, 'joint_isj': 26211.42081216311, 'ee_path_length': 2.562978401641154, 'joint_rmse_mean': 0.9630546628441186, 'ee_speed_max': 0.6650722622871399, 'ee_speed_mean': 0.16603970527648926}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 614.932, 'policy_inference_avg_ms': 2782.5, 'env_step_s': 142.452, 'env_step_avg_ms': 644.6, 'video_write_s': 1.931, 'video_write_avg_ms': 8.7, 'wall_total_s': 759.315, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: fa8daecc6c684bb498492ab694f8b315-2
+[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
+2026-11-03T15:17:44Z [1,822,314ms] [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 : 0.186177 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:17:48Z [1,826,303ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:17:48Z [1,826,303ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:17:48Z [1,826,313ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:17:48Z [1,826,313ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:17:48Z [1,826,326ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:17:48Z [1,826,333ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:17:48Z [1,826,352ms] [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 : 8.919167 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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+2026-11-03T16:01:10Z [4,428,458ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T16:01:14Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:01:44Z] 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_20261103_160148.log
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T16:01:48Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:48Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T16:01:48Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T16:01:48Z [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'
+2026-11-03T16:01:52Z [3,647ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:01:52Z [3,648ms] [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)
+2026-11-03T16:01:52Z [3,731ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T16:01:53Z [4,461ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:01:53Z [4,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:01:53Z [4,463ms] [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: 860972
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T16:01:55Z [6,564ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T16:01:55Z [6,564ms] [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 
+     0 909.62  22.04  21.93  21.93  20.37  22.18  20.68  22.29 
+     1  22.48 920.20  22.08  22.32  19.98  22.30  21.88  22.46 
+     2  22.31  21.95 918.04  22.27  19.93  22.48  20.89  22.39 
+     3  21.89  22.07  22.27 919.12  20.00  22.22  21.87  22.21 
+     4  19.76  17.70  18.63  17.24 919.76  17.47  16.72  16.20 
+     5  21.12  20.09  20.34  19.61  19.08 918.58  18.88  19.09 
+     6  19.22  19.44  18.93  19.07  17.72  17.83 920.59  17.09 
+     7  21.04  20.26  20.07  19.67  17.42  18.94  18.69 918.04 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  14.33  14.40  11.58  11.52  11.52  20.07  11.51 
+     1  11.55   1.52  13.72  11.48  11.33  12.07  11.50  11.51 
+     2  13.42  13.12   1.46  11.61  11.44  11.58  11.52  20.09 
+     3  11.51  11.51  11.26   1.32  11.36  11.68  20.18  11.51 
+     4  13.33  15.26  19.88  19.61   1.38  12.43  14.72  13.74 
+     5  12.66  12.47  13.65  12.61  12.47   1.36  12.47  12.46 
+     6  11.76  11.83  12.14  12.42  14.61  13.02   1.46  12.01 
+     7  14.17  12.55  12.44  12.43  29.55  12.63  12.44   1.46 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.14   9.92  10.41   9.71   8.51   8.77   8.70   8.38 
+     1   9.78   2.93   9.43   9.35   8.37   8.35   8.19   8.16 
+     2   9.62   9.30   3.14   9.54   8.54   8.48   8.35   8.24 
+     3   9.51   9.26   9.40   3.14   8.44   8.41   8.24   8.21 
+     4   9.03   8.84  12.63  11.08   3.15   9.25   8.81   8.87 
+     5  10.71  10.62  10.66  10.58   8.79   3.01   8.85   9.71 
+     6  10.86  10.71  10.82  10.60  12.30   9.31   2.99   8.90 
+     7  10.67  10.81  10.72  10.50   9.20   8.76   8.68   3.10 
+2026-11-03T16:01:58Z [9,254ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.2 GB/s.
+2026-11-03T16:01:58Z [9,254ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 29.6 us.
+2026-11-03T16:01:58Z [9,255ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T16:02:01Z [12,526ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [12,527ms] [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)
+2026-11-03T16:02:01Z [12,648ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [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)
+2026-11-03T16:02:01Z [12,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [12,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:02:01Z [12,851ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [12,851ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:02:01Z [12,856ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [12,856ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:02:01Z [12,863ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:02:01Z [12,863ms] [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)
+2026-11-03T16:02:02Z [13,907ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T16:02:06Z [17,322ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T16:02:15Z [26,689ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T16:02:16Z [27,798ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T16:02:29Z [40,952ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T16:02:29Z [40,955ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T16:02:30Z [41,439ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T16:02:33Z [44,505ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:02:33Z [44,507ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:02:33Z [44,509ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:02:33Z [44,546ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T16:02:33Z [44,564ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:02:33Z [44,565ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T16:02:48Z [59,568ms] [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@ <0x56140d28b680>)
+
+2026-11-03T16:02:48Z [59,569ms] [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@ <0x56140d28b680>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 3 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` 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
+2026-11-03T16:02:54Z [65,335ms] [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: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 : 0.469513 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:02:59Z [70,722ms] [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.
+2026-11-03T16:02:59Z [70,722ms] [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.
+2026-11-03T16:02:59Z [70,795ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:02:59Z [70,795ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:02:59Z [70,804ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:02:59Z [70,812ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:02:59Z [70,968ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:02:59Z [70,991ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:03:10Z [81,280ms] [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 : 15.883756 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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+2026-11-03T16:49:19Z [2,850,332ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T16:49:23Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T16:50:23Z] 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_20261103_165028.log
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [45ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [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'
+2026-11-03T16:50:28Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T16:50:28Z [59ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T16:50:32Z [3,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:32Z [3,943ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:32Z [4,029ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T16:50:33Z [4,715ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:33Z [4,716ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:33Z [4,717ms] [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: 859168
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T16:50:35Z [6,808ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T16:50:35Z [6,809ms] [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 
+     0 910.22  21.89  21.98  21.76  21.67  19.61  19.30  18.44 
+     1  22.31 920.20  21.88  21.58  20.89  21.11  20.65  19.14 
+     2  22.28  22.16 919.66  22.18  21.90  20.05  19.57  18.09 
+     3  22.43  22.07  22.01 919.12  19.94  20.94  20.61  19.25 
+     4  19.81  18.75  19.00  18.52 921.27  22.34  22.35  21.88 
+     5  19.12  19.78   8.87  19.50  19.29 920.74  22.14  22.03 
+     6  17.57  18.38  17.03  18.89  16.97  22.21 921.69  22.30 
+     7  19.40  19.71  19.42  20.54  17.69  22.03  22.32 919.12 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  10.60  12.61  14.41  15.44  13.42  11.52  11.36 
+     1  11.22   1.47  10.58  11.90  13.85  13.79  11.79  20.55 
+     2  14.27  26.88   1.46  12.44  15.85  12.93  15.78  20.14 
+     3  13.29  15.61  14.26   1.40  12.24  16.57  11.53  12.52 
+     4  11.43  11.75  12.00  11.37   1.38  13.81  11.45  11.60 
+     5  12.67  14.48  12.83  11.37  11.43   1.37  11.60  22.43 
+     6  11.57  13.21  12.29  11.37  15.47  13.54   1.47  15.14 
+     7  12.94  13.70  12.94  16.68  19.42  15.25  12.74   1.46 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.38   6.98   6.81   6.80   8.72   8.38   9.89   9.60 
+     1   7.02   3.75   9.05   6.93   8.58   8.31   9.60   9.62 
+     2   7.02   6.73   2.31   6.68   8.50   8.35   9.91   9.64 
+     3   6.73   6.55   6.72   2.21   8.50   8.36   9.89   9.76 
+     4   7.91   7.87   7.93   7.92   2.83   9.59  11.02  10.84 
+     5   8.06   7.95   8.02   7.98   9.75   2.83  10.84  13.05 
+     6   9.10   8.77   9.04   8.93  10.73  10.52   3.51  11.94 
+     7   8.86   9.10   8.93   9.61  10.69  10.43  11.82   3.45 
+2026-11-03T16:50:37Z [9,497ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 8.9 GB/s.
+2026-11-03T16:50:37Z [9,498ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 26.9 us.
+2026-11-03T16:50:37Z [9,498ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T16:50:41Z [12,768ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [12,769ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:41Z [12,884ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [12,885ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:41Z [12,894ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [12,894ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:41Z [13,072ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [13,072ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:41Z [13,078ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [13,078ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:50:41Z [13,084ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:50:41Z [13,084ms] [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)
+2026-11-03T16:50:42Z [14,006ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T16:50:45Z [17,181ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T16:50:55Z [26,732ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T16:50:56Z [27,852ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T16:51:09Z [40,780ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T16:51:09Z [40,783ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T16:51:09Z [41,291ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T16:51:12Z [44,351ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:51:12Z [44,352ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:51:12Z [44,352ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:51:12Z [44,370ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T16:51:12Z [44,384ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:51:12Z [44,384ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T16:51:27Z [59,501ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/visuals>: Unresolved reference prim path @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</Flattened_Prototype_1> introduced by @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@</world/franka_table/visuals> (instantiating stage on stage @/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/assets/scenes/ladle_pot.usda@ <0x5627d6b4f010>)
+
+2026-11-03T16:51:27Z [59,503ms] [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@ <0x5627d6b4f010>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 3 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` 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
+2026-11-03T16:51:34Z [65,681ms] [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 : 0.435177 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:51:39Z [70,946ms] [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.
+2026-11-03T16:51:39Z [70,947ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:51:39Z [71,012ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:51:39Z [71,012ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:51:39Z [71,021ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:51:39Z [71,028ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:51:39Z [71,189ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:51:39Z [71,213ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:51:49Z [80,893ms] [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 : 15.182123 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_multiact/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: 462, duration: 30.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.741091717499396, 'joint_sparc_mean': -11.375022958899464, 'ee_isj': 2627.8831614504857, 'joint_isj': 25950.03545227051, 'ee_path_length': 3.8181059463681604, 'joint_rmse_mean': 0.9570491845667054, 'ee_speed_max': 0.5999189615249634, 'ee_speed_mean': 0.11701090633869171}, events: {'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 6, 'GRIPPER_HIT_OBJECT': 4, 'MULTIPLE_OBJECTS_GRABBED': 1, 'OBJECT_BUMPED': 5, 'wrong_objects_grabbed': ['blue_block', 'red_block', 'red_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 952.188, 'policy_inference_avg_ms': 2061.0, 'env_step_s': 104.867, 'env_step_avg_ms': 227.0, 'video_write_s': 3.547, 'video_write_avg_ms': 7.7, 'wall_total_s': 1060.603, 'it_per_sec': 0.44}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 177fb4a8c1ba47c59e732b0e1399bc0d-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_multiact/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: 343, duration: 22.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.858990820144063, 'joint_sparc_mean': -10.54624064671253, 'ee_isj': 1829.628753257929, 'joint_isj': 20452.3292002807, 'ee_path_length': 2.8130479166354694, 'joint_rmse_mean': 0.9481431030223298, 'ee_speed_max': 0.5725399255752563, 'ee_speed_mean': 0.11450836062431335}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 3, 'wrong_objects_grabbed': ['blue_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 682.98, 'policy_inference_avg_ms': 1991.2, 'env_step_s': 79.126, 'env_step_avg_ms': 230.7, 'video_write_s': 3.406, 'video_write_avg_ms': 9.9, 'wall_total_s': 765.512, 'it_per_sec': 0.45}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: 8698564dcadf4d05b36f90e163981a42-1
+[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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+2026-11-03T18:23:15Z [5,566,684ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:23:18Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:23:48Z] 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_20261103_182353.log
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+2026-11-03T18:23:53Z [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'
+2026-11-03T18:23:53Z [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'
+2026-11-03T18:23:53Z [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'
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+2026-11-03T18:23:53Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T18:23:53Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T18:23:53Z [48ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T18:23:53Z [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'
+2026-11-03T18:23:53Z [54ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T18:23:53Z [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'
+2026-11-03T18:23:57Z [3,559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:23:57Z [3,560ms] [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)
+2026-11-03T18:23:57Z [3,646ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:23:58Z [4,347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:23:58Z [4,348ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:23:58Z [4,350ms] [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: 863979
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:24:00Z [6,949ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:24:00Z [6,949ms] [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 
+     0 909.74  21.86  21.88  21.57  20.38  22.16  20.45  22.32 
+     1  22.19 922.92  22.00  21.82  19.71  22.30  20.96  22.45 
+     2  22.15  21.95 918.98  21.66  19.94  22.28  21.87  22.48 
+     3  22.26  22.03  21.92 917.50  20.03  22.26  21.81  22.17 
+     4  19.81  17.61  19.40  18.89 922.17  18.27  17.74  16.38 
+     5  21.00  20.22  19.53  19.54  19.40 920.20  18.54  18.79 
+     6  19.70  18.61  19.16  17.86  18.47  18.00 918.58  17.56 
+     7  19.94  19.67  19.78  19.19  17.68  19.30  19.35 917.50 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.48  13.22  11.09  11.81  16.99  17.43  13.04  13.79 
+     1  16.36   1.47  13.80  12.77  14.31  13.65  16.14  12.94 
+     2  15.51  14.03   1.46  13.12  14.35  14.81  13.78  13.83 
+     3  12.13  12.86  20.01   1.39  11.51  11.51  19.93  13.68 
+     4  15.16  11.42  11.49  11.59   1.37  11.27  11.59  11.51 
+     5  12.04  11.51  11.35  12.09  11.52   1.37  11.35  11.60 
+     6  11.50  11.49  11.34  11.93  11.50  11.59   1.47  11.43 
+     7  11.59  11.33  11.40  11.34  11.26  11.32  11.59   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.05   9.54   9.14   9.25   8.45   8.26   8.25   8.10 
+     1   9.43   2.87   9.28   9.13   8.35   8.23   8.18   8.03 
+     2   9.40   9.40   2.95   9.19   8.70   8.30   8.26   8.14 
+     3   9.75  10.22  15.76   6.29  14.75   8.31   8.23   8.08 
+     4  13.77   8.89   8.70   8.65   2.54   8.16   7.76   7.61 
+     5   8.71   8.83   8.79   8.44   7.81   2.49   8.08   7.63 
+     6   8.73   8.50   9.02   8.69   7.87   7.78   2.80   8.45 
+     7   8.62   8.59   8.48   8.77   7.69   7.53   7.58   2.49 
+2026-11-03T18:24:03Z [9,593ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.4 GB/s.
+2026-11-03T18:24:03Z [9,594ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.0 us.
+2026-11-03T18:24:03Z [9,594ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:24:06Z [12,822ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [12,823ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:24:06Z [12,944ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [12,944ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:24:06Z [12,955ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [12,955ms] [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)
+2026-11-03T18:24:06Z [13,142ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [13,142ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:24:06Z [13,147ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [13,147ms] [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)
+2026-11-03T18:24:06Z [13,153ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:24:06Z [13,154ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:24:07Z [14,039ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:24:10Z [17,215ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:24:20Z [26,626ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:24:21Z [27,796ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T18:24:33Z [40,186ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T18:24:33Z [40,188ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T18:24:34Z [40,672ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T18:24:37Z [43,759ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:24:37Z [43,760ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:24:37Z [43,763ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:24:37Z [43,780ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T18:24:37Z [43,792ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:24:37Z [43,792ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T18:24:52Z [58,317ms] [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@ <0x5648be237360>)
+
+2026-11-03T18:24:52Z [58,318ms] [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@ <0x5648be237360>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 5 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T18:24:58Z [64,346ms] [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 : 0.394493 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:25:03Z [69,259ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:25:03Z [69,259ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:25:03Z [69,331ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:25:03Z [69,331ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:25:03Z [69,340ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:25:03Z [69,347ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:25:03Z [69,498ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:25:03Z [69,515ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:25:13Z [79,589ms] [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 : 15.240476 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] 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]
  0%|          | 1/1350 [00:49<18:33:29, 49.53s/it]
  0%|          | 2/1350 [00:49<7:41:32, 20.54s/it] 
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+2026-11-03T19:09:35Z [2,741,711ms] [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.
+[2026-11-03T19:09:39Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T19:10:39Z] 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_20261103_191044.log
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:44Z [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'
+2026-11-03T19:10:48Z [3,754ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:48Z [3,754ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:48Z [3,853ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T19:10:48Z [4,642ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:48Z [4,644ms] [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)
+2026-11-03T19:10:48Z [4,645ms] [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: 867131
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T19:10:51Z [6,875ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T19:10:51Z [6,876ms] [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 
+     0 911.63  22.15  21.85  21.86  20.26  22.13  20.48  22.26 
+     1  22.20 922.92  21.94  22.01  20.23  22.17  21.92  22.07 
+     2  22.18  21.93 918.95  22.30  20.21  22.40  21.94  22.57 
+     3  22.05  21.87  22.15 917.50  20.15  22.44  21.82  22.11 
+     4  20.93  19.11  19.26  19.04 922.70  18.27  17.55  16.47 
+     5  21.18  19.40  19.95  19.76  19.37 920.20  18.53  18.98 
+     6  20.72  18.23  19.18  18.75  18.14  17.86 919.03  17.59 
+     7  21.16  19.11  19.81  19.38  17.69  19.16  19.07 919.66 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  14.81  11.36  11.44  15.14  11.43  14.84  13.53 
+     1  13.25   1.46  12.79  15.29  13.58  14.70  12.87  12.19 
+     2  15.91  11.59   1.46  11.68  11.51  11.57  11.35  14.65 
+     3  11.71  11.71  14.43   1.40  11.44  11.84  11.45  11.25 
+     4  11.59  11.41  11.59  11.49   1.37  11.27  11.44  11.43 
+     5  11.45  11.42  11.52  11.45  11.27   1.36  11.43  11.50 
+     6  11.52  11.51  11.38  11.43  11.51  11.35   1.47  11.35 
+     7  11.59  11.51  11.42  15.62  11.37  11.96  12.01   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.37  17.50  10.06  10.06   8.42   8.36   8.39   8.74 
+     1   9.51   2.96   9.31   9.27   8.41   8.33   8.43   9.32 
+     2  10.64   9.37   3.10   9.24   8.46   8.25   8.48   8.21 
+     3   9.47   9.13   9.23   2.75   8.34   8.16   8.25   8.09 
+     4   8.80   8.95   8.65   8.55   2.49   7.78   7.90   7.72 
+     5   9.00   8.92   8.58   9.16   7.80   2.59   8.23   8.22 
+     6   8.90   8.56  10.40   9.39   8.73   7.71   2.69   7.80 
+     7   8.85   8.48   8.78   8.81   7.92   7.49   7.65   2.58 
+2026-11-03T19:10:53Z [9,505ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.5 GB/s.
+2026-11-03T19:10:53Z [9,505ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 15.9 us.
+2026-11-03T19:10:53Z [9,505ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T19:10:57Z [12,934ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [12,935ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:57Z [13,031ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [13,031ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:57Z [13,041ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [13,042ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:57Z [13,217ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [13,217ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:57Z [13,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [13,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:57Z [13,231ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:10:57Z [13,232ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:10:58Z [14,171ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T19:11:01Z [17,532ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T19:11:12Z [28,383ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T19:11:13Z [29,633ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T19:11:27Z [42,815ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T19:11:27Z [42,817ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T19:11:27Z [43,282ms] [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.
+2026-11-03T19:11:30Z [46,447ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:11:30Z [46,447ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:11:30Z [46,448ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:11:30Z [46,464ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T19:11:30Z [46,476ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:11:30Z [46,477ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T19:11:45Z [61,386ms] [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@ <0x564b948e3b80>)
+
+2026-11-03T19:11:45Z [61,388ms] [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@ <0x564b948e3b80>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 5 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` 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
+2026-11-03T19:11:51Z [67,074ms] [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 : 0.463746 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:11:56Z [72,455ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:11:56Z [72,456ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:11:56Z [72,534ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:11:56Z [72,534ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:11:56Z [72,543ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:11:56Z [72,550ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:11:57Z [72,708ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:11:57Z [72,733ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:12:06Z [82,522ms] [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 : 15.418217 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] 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/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: 386, duration: 25.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.788762077762389, 'joint_sparc_mean': -10.201655241255798, 'ee_isj': 2198.359498256609, 'joint_isj': 23427.220481049437, 'ee_path_length': 3.2957542836220277, 'joint_rmse_mean': 0.9446545674260942, 'ee_speed_max': 0.5984578132629395, 'ee_speed_mean': 0.11900138109922409}, events: {'GRIPPER_HIT_TABLE': 1, 'WRONG_OBJECT_GRABBED': 4, 'GRIPPER_HIT_OBJECT': 3, 'OBJECT_BUMPED': 4, 'wrong_objects_grabbed': ['blue_block', 'blue_block', 'green_block', 'yellow_block']}, instruction_type: default, timing: {'policy_inference_s': 710.599, 'policy_inference_avg_ms': 1840.9, 'env_step_s': 87.326, 'env_step_avg_ms': 226.2, 'video_write_s': 2.862, 'video_write_avg_ms': 7.4, 'wall_total_s': 800.787, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'unnamed_subtask' 3/3, harness_episode_id: f70b5f73da014759ad043b729fda7ab9-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:26:03Z [919,023ms] [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 : 0.247003 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:26:05Z [921,211ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:26:05Z [921,212ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:26:05Z [921,220ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:26:05Z [921,220ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:26:05Z [921,228ms] [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.
+2026-11-03T19:26:05Z [921,235ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:26:05Z [921,253ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T19:26:06Z [921,700ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,700ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,714ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,714ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,718ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,718ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,804ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,804ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,856ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((483))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,857ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((483))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,878ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-03T19:26:06Z [921,878ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,433ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,434ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,435ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,435ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((403))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,436ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,437ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((405))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,440ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,441ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((456))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,442ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((483))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,443ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((483))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,444ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+2026-11-03T19:26:06Z [922,444ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((492))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.285296 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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+2026-11-03T20:20:10Z [4,166,672ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T20:20:14Z] GPU 1: ReorientRedMugTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:20:44Z] GPU 1: Starting worker at ReorientRedMugTask/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_20261103_202049.log
+2026-11-03T20:20:49Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T20:20:49Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T20:20:49Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T20:20:49Z [42ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T20:20:49Z [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'
+2026-11-03T20:20:49Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T20:20:49Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T20:20:49Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T20:20:49Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T20:20:49Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T20:20:53Z [3,741ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:20:53Z [3,742ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:20:53Z [3,823ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T20:20:53Z [4,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:20:53Z [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)
+2026-11-03T20:20:53Z [4,508ms] [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: 864566
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T20:20:55Z [6,630ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T20:20:55Z [6,631ms] [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  21.89  22.13  22.28  21.75  22.04  21.88  20.15 
+     1  22.14 921.83  21.82  21.78  19.98  22.03  20.69  21.24 
+     2  22.28  21.83 917.70  22.00  20.61  22.40  21.86  20.65 
+     3  22.15  21.89  22.26 917.50  20.69  22.55  21.89  21.25 
+     4  20.22  20.31  18.47  18.76 920.88  17.88  17.51  22.50 
+     5  18.80  21.13  19.45  19.73  19.26 920.20  19.35  21.95 
+     6  18.43  19.54  17.61  17.84  16.86  17.77 917.50  21.20 
+     7  18.54  21.20  19.46  19.78  17.59  19.38  19.29 919.66 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.39  10.51  11.55  11.84  13.23  13.32  14.60  15.26 
+     1  12.87   1.37  10.86  11.82  11.63  11.46  19.99  13.13 
+     2  10.42  10.40   1.46  11.29  11.27  13.59  12.05  14.95 
+     3  14.84  17.63  10.78   1.40  11.83  12.30  11.55  11.45 
+     4  12.47  11.67  11.50  11.37   1.37  11.35  14.75  11.88 
+     5  14.01  11.86  14.99  13.70  12.67   1.36  14.18  12.26 
+     6  11.85  12.24  12.97  12.39  12.86  12.96   1.46  14.64 
+     7  16.94  11.80  16.82  12.86  16.18  15.66  14.88   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.48   7.03   6.89   8.27   7.78   7.43   7.72   8.04 
+     1   7.02   2.24   6.76   6.73   7.53   7.44   7.49   8.02 
+     2   7.03   6.66   2.37   6.94   7.61   7.51   7.68   8.06 
+     3   6.88   6.67   6.81   2.29   7.62   7.43   7.56   8.09 
+     4   7.44   7.10   7.40   7.31   2.55   8.04   8.27  11.30 
+     5   8.48   8.10   8.37   7.89   9.64   2.88   9.50  10.70 
+     6   7.97   7.80   8.02   7.78   9.63   9.37   2.77  10.74 
+     7   8.94   8.71   8.94   8.97  10.78  11.54  10.43   3.52 
+2026-11-03T20:20:58Z [9,256ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.9 GB/s.
+2026-11-03T20:20:58Z [9,257ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.0 us.
+2026-11-03T20:20:58Z [9,257ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T20:21:02Z [12,725ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [12,726ms] [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)
+2026-11-03T20:21:02Z [12,819ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [12,819ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:21:02Z [12,829ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [12,829ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:21:02Z [13,021ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [13,022ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:21:02Z [13,027ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [13,027ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:21:02Z [13,032ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T20:21:02Z [13,033ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T20:21:03Z [13,943ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T20:21:06Z [17,123ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T20:21:16Z [27,032ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T20:21:17Z [28,194ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T20:21:30Z [40,765ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T20:21:30Z [40,767ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T20:21:30Z [41,251ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T20:21:33Z [44,424ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:21:33Z [44,425ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:21:33Z [44,427ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:21:33Z [44,445ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T20:21:33Z [44,458ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T20:21:33Z [44,458ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T20:21:48Z [59,097ms] [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@ <0x55697b655130>)
+
+2026-11-03T20:21:48Z [59,099ms] [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@ <0x55697b655130>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 6 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T20:21:54Z [64,757ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.446001 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:21:58Z [69,397ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:21:58Z [69,398ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:21:58Z [69,474ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:21:58Z [69,474ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:21:58Z [69,482ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:21:58Z [69,489ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:21:58Z [69,665ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:21:59Z [69,690ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T20:22:03Z [73,733ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,734ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,965ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,965ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,972ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,972ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T20:22:03Z [73,991ms] [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.
+2026-11-03T20:22:03Z [73,991ms] [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.
+2026-11-03T20:22:03Z [74,226ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T20:22:03Z [74,226ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T20:22:05Z [76,081ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-11-03T20:22:05Z [76,081ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,093ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T20:22:06Z [77,403ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,404ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,405ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((132))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,406ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,406ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((133))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,407ms] [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.
+2026-11-03T20:22:06Z [77,407ms] [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.
+2026-11-03T20:22:06Z [77,409ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,409ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,411ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+2026-11-03T20:22:06Z [77,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((198))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.324825 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/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: 250, duration: 16.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.478174108110281, 'joint_sparc_mean': -6.717461851276071, 'ee_isj': 1654.3838434098056, 'joint_isj': 263118.7698342693, 'ee_path_length': 1.9628759006224112, 'joint_rmse_mean': 0.9285111070751819, 'ee_speed_max': 0.6689918637275696, 'ee_speed_mean': 0.11754977703094482}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_BUMPED': 4, 'WRONG_OBJECT_GRABBED': 2, 'GRIPPER_FULLY_CLOSED': 1, 'wrong_objects_grabbed': ['red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 630.881, 'policy_inference_avg_ms': 2523.5, 'env_step_s': 76.766, 'env_step_avg_ms': 307.1, 'video_write_s': 2.394, 'video_write_avg_ms': 9.6, 'wall_total_s': 710.041, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 09e10e7b04154e9dab755613fa804ee0-0
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+2026-11-03T21:27:01Z [3,972,001ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T21:27:04Z] GPU 1: ReorientRedMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:27:35Z] GPU 1: Starting worker at ReorientRedMugTask/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_20261103_212739.log
+2026-11-03T21:27:39Z [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'
+2026-11-03T21:27:39Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T21:27:39Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T21:27:39Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T21:27:39Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T21:27:39Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T21:27:39Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T21:27:39Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T21:27:39Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T21:27:39Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T21:27:39Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T21:27:39Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T21:27:39Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T21:27:39Z [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'
+2026-11-03T21:27:39Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T21:27:39Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T21:27:39Z [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'
+2026-11-03T21:27:43Z [4,130ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:43Z [4,131ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:43Z [4,208ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T21:27:44Z [4,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:44Z [4,970ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:44Z [4,972ms] [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: 861912
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T21:27:46Z [6,953ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T21:27:46Z [6,954ms] [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 
+     0 907.67  21.98  22.08  21.67  20.08  22.22  20.59  22.23 
+     1  22.06 922.92  22.04  21.84  20.05  22.24  21.61  22.42 
+     2  22.27  21.80 919.66  21.91  20.17  22.31  20.67  22.49 
+     3  21.91  21.64  21.88 919.12  19.69  22.32  21.98  22.39 
+     4  20.19  18.94  19.43  18.51 921.42  18.14  17.68  16.83 
+     5  21.07  20.37  20.57  20.14  19.45 920.79  18.55  19.25 
+     6  19.83  19.70  18.64  19.35  18.21  18.17 919.02  17.40 
+     7  21.02  20.71  19.73  19.98  16.87  19.14  19.32 920.32 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  14.16  11.23  14.21  11.53  14.78  11.92  12.37 
+     1  15.75   1.46  11.47  15.91  17.31  15.96  14.26  16.15 
+     2  12.96  15.25   1.46  13.83  15.95  14.99  15.95  14.86 
+     3  17.52  17.76  12.92   1.40  14.14  12.52  12.72  12.77 
+     4  11.81  11.68  11.93  16.34   1.37  12.23  11.49  12.22 
+     5  11.47  11.78  11.66  16.41  12.63   1.37  11.40  12.07 
+     6  12.47  11.41  11.83  15.43  13.68  12.07   1.48  11.99 
+     7  16.99  11.54  12.12  17.13  13.81  11.83  12.46   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.22  10.25   9.69  10.65   8.51   8.39   8.39   8.36 
+     1  10.00   3.01   9.67  14.88  13.06  10.27   9.97  10.06 
+     2  12.87  12.51   3.95  12.42  10.32  10.35  10.09  10.39 
+     3  12.68  12.09  12.25   3.52  10.52  11.05  10.12  10.04 
+     4  11.08  10.76  10.90  11.02   3.07   9.98   8.94   8.98 
+     5  10.91  10.66  11.11  11.27   9.46   2.98   9.00   8.87 
+     6  10.90  10.62  11.03  10.76   9.17   8.94   3.01   8.93 
+     7  10.70  10.53  10.67  10.70   9.33   8.90   8.68   2.95 
+2026-11-03T21:27:48Z [9,647ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.8 GB/s.
+2026-11-03T21:27:48Z [9,647ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 17.8 us.
+2026-11-03T21:27:48Z [9,647ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T21:27:52Z [12,931ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [12,931ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:52Z [13,053ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [13,053ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:52Z [13,064ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [13,064ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:52Z [13,416ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [13,416ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:52Z [13,421ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [13,421ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:52Z [13,427ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:27:52Z [13,427ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:27:53Z [14,304ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T21:27:56Z [17,654ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T21:28:06Z [27,163ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T21:28:07Z [28,364ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T21:28:20Z [41,634ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T21:28:20Z [41,636ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T21:28:21Z [42,139ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T21:28:24Z [45,227ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:28:24Z [45,228ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:28:24Z [45,231ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:28:24Z [45,250ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T21:28:24Z [45,263ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:28:24Z [45,263ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['FruitsOnionToPlateTask', 'BlockStackingSpecifiedOrderTask', 'ReorientRedMugTask', 'BananaThenRubiksCubeTask', 'FoodPacking1CansTask']
+2026-11-03T21:28:39Z [59,877ms] [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@ <0x55e4fc9d2160>)
+
+2026-11-03T21:28:39Z [59,878ms] [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@ <0x55e4fc9d2160>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Environments   : FruitsOnionToPlateTask, BlockStackingSpecifiedOrderTask, ReorientRedMugTask, BananaThenRubiksCubeTask, FoodPacking1CansTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab
+══════════════════════════════════════════════════════════════
+Loaded 7 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/robolab.
+[RoboLab] Task `FruitsOnionToPlateTask` already done. Skipping.
+[RoboLab] Task `BlockStackingSpecifiedOrderTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:28:44Z [65,541ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.676197 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:28:50Z [70,717ms] [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.
+2026-11-03T21:28:50Z [70,718ms] [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.
+2026-11-03T21:28:50Z [70,793ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:28:50Z [70,794ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:28:50Z [70,802ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:28:50Z [70,810ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:28:50Z [70,992ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:28:50Z [71,013ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:28:53Z [74,212ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T21:28:53Z [74,213ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,163ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,163ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,183ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,183ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,227ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,227ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,239ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T21:28:54Z [75,239ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T21:28:56Z [77,562ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T21:28:56Z [77,563ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,253ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T21:28:57Z [78,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,593ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((103))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,595ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,595ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((120))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,596ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,596ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,597ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,597ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,598ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,598ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,603ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T21:28:57Z [78,603ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.468658 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] Task `ReorientRedMugTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientRedMugTask_1: 'Put the red mug 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_multiact/gpu_1/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: 408, duration: 27.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.482698770867461, 'joint_sparc_mean': -11.182612095219048, 'ee_isj': 3268.9257721032272, 'joint_isj': 65187.146411681446, 'ee_path_length': 2.585383587255995, 'joint_rmse_mean': 1.1081897913857621, 'ee_speed_max': 0.5880393981933594, 'ee_speed_mean': 0.08979804813861847}, events: {'GRIPPER_FULLY_CLOSED': 7, 'GRIPPER_HIT_OBJECT': 2, 'WRONG_OBJECT_GRABBED': 5, 'OBJECT_BUMPED': 5, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'measuring_cup', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 1307.482, 'policy_inference_avg_ms': 3204.6, 'env_step_s': 116.899, 'env_step_avg_ms': 286.5, 'video_write_s': 3.383, 'video_write_avg_ms': 8.3, 'wall_total_s': 1427.764, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 6035e1493a0f4b81b796f40effb3c822-1
+[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_multiact/gpu_1/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: 159, duration: 10.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.885007413641397, 'joint_sparc_mean': -7.125336430596207, 'ee_isj': 534.9610789380199, 'joint_isj': 18643.625925831224, 'ee_path_length': 1.0782615835239229, 'joint_rmse_mean': 0.777412149750976, 'ee_speed_max': 0.34141960740089417, 'ee_speed_mean': 0.09341622143983841}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 3, 'OBJECT_BUMPED': 2, 'wrong_objects_grabbed': ['red_mug', 'red_mug', 'red_mug']}, instruction_type: default, timing: {'policy_inference_s': 413.655, 'policy_inference_avg_ms': 2601.6, 'env_step_s': 45.793, 'env_step_avg_ms': 288.0, 'video_write_s': 1.755, 'video_write_avg_ms': 11.0, 'wall_total_s': 461.204, 'it_per_sec': 0.34}, score: 1.0, reason: Completed subtask 'reorient_red_mug' 1/1, harness_episode_id: 7360cc7cc4024c8ca02a6cced93eea0d-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
+2026-11-03T22:01:25Z [2,026,462ms] [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 : 0.177877 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T22:01:27Z [2,028,636ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:01:27Z [2,028,636ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:01:27Z [2,028,647ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:01:27Z [2,028,647ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:01:27Z [2,028,655ms] [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.
+2026-11-03T22:01:27Z [2,028,663ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T22:01:27Z [2,028,682ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T22:01:28Z [2,028,987ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-11-03T22:01:28Z [2,028,987ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-11-03T22:01:28Z [2,029,028ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((369))' not available in the MDL representation.
+2026-11-03T22:01:28Z [2,029,028ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((369))' not available in the MDL representation.
+2026-11-03T22:01:28Z [2,029,085ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-03T22:01:28Z [2,029,086ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,838ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,839ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((343))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,840ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((369))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,841ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((369))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,842ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+2026-11-03T22:01:29Z [2,029,843ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((402))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.310177 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_multiact/gpu_1/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: 305, duration: 20.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.337483785728001, 'joint_sparc_mean': -8.468469849923311, 'ee_isj': 1110.3087898443205, 'joint_isj': 14885.58724311621, 'ee_path_length': 2.0069492713758534, 'joint_rmse_mean': 1.1613368621598996, 'ee_speed_max': 0.4892916977405548, 'ee_speed_mean': 0.09485127031803131}, events: {'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 663.955, 'policy_inference_avg_ms': 2176.9, 'env_step_s': 63.643, 'env_step_avg_ms': 208.7, 'video_write_s': 2.882, 'video_write_avg_ms': 9.4, 'wall_total_s': 730.479, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 33bef04c707a4d99a7fcf3fe1186becc-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_multiact/gpu_1/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: 390, duration: 26.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.433423800185691, 'joint_sparc_mean': -11.626221852604408, 'ee_isj': 1969.2318864736476, 'joint_isj': 93354.11658141157, 'ee_path_length': 3.053930722996789, 'joint_rmse_mean': 1.209137263780533, 'ee_speed_max': 0.4734094440937042, 'ee_speed_mean': 0.1136075109243393}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_HIT_TABLE': 2, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 907.468, 'policy_inference_avg_ms': 2326.8, 'env_step_s': 81.783, 'env_step_avg_ms': 209.7, 'video_write_s': 3.367, 'video_write_avg_ms': 8.6, 'wall_total_s': 992.618, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 04f4a7eee5a044a09f5d8d5e1963db75-1
+[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_multiact/gpu_1/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: 364, duration: 24.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.893811886332337, 'joint_sparc_mean': -9.621592140406367, 'ee_isj': 1227.716437005815, 'joint_isj': 43510.17121878927, 'ee_path_length': 2.4241439086720784, 'joint_rmse_mean': 1.0744801043656909, 'ee_speed_max': 0.4986551105976105, 'ee_speed_mean': 0.09454629570245743}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_HIT_OBJECT': 2, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 801.28, 'policy_inference_avg_ms': 2201.3, 'env_step_s': 77.08, 'env_step_avg_ms': 211.8, 'video_write_s': 3.141, 'video_write_avg_ms': 8.6, 'wall_total_s': 881.501, 'it_per_sec': 0.41}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 6a2aeb923c134c5ababa685dad78387b-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
+2026-11-03T22:46:30Z [4,731,616ms] [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 : 0.191492 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T22:46:34Z [4,735,579ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T22:46:35Z [4,735,723ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:46:35Z [4,735,723ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:46:35Z [4,735,732ms] [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.
+2026-11-03T22:46:35Z [4,735,732ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:46:35Z [4,735,741ms] [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.
+2026-11-03T22:46:35Z [4,735,748ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T22:46:36Z [4,736,974ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((573))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,736,974ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((573))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,573ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((618))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,574ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((618))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,604ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((633))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,604ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((633))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,622ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-11-03T22:46:36Z [4,737,622ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,342ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((573))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,343ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((573))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,345ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((618))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((618))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,347ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((633))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,347ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((633))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,348ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+2026-11-03T22:46:39Z [4,740,348ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((636))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.653130 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_multiact/gpu_1/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: 137, duration: 9.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.504206304723145, 'joint_sparc_mean': -7.0555432419290955, 'ee_isj': 747.4228985741481, 'joint_isj': 70076.63714777591, 'ee_path_length': 1.359444740514106, 'joint_rmse_mean': 0.9112208030985481, 'ee_speed_max': 0.5603672862052917, 'ee_speed_mean': 0.13923294842243195}, events: {'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 203.919, 'policy_inference_avg_ms': 1488.5, 'env_step_s': 31.672, 'env_step_avg_ms': 231.2, 'video_write_s': 1.842, 'video_write_avg_ms': 13.4, 'wall_total_s': 237.433, 'it_per_sec': 0.58}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8a9b4b28bc414b19ae3bde1918f7ad90-0
+[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_multiact/gpu_1/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: 425, duration: 28.333333333333332, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.6738475466902525, 'joint_sparc_mean': -10.093983047196291, 'ee_isj': 1919.7200647735042, 'joint_isj': 51920.43811713309, 'ee_path_length': 3.825804483195771, 'joint_rmse_mean': 1.0227913160446003, 'ee_speed_max': 0.4207094609737396, 'ee_speed_mean': 0.1286141276359558}, events: {'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 3}, instruction_type: default, timing: {'policy_inference_s': 965.724, 'policy_inference_avg_ms': 2272.3, 'env_step_s': 96.657, 'env_step_avg_ms': 227.4, 'video_write_s': 3.446, 'video_write_avg_ms': 8.1, 'wall_total_s': 1065.827, 'it_per_sec': 0.4}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 878053912548455ab0bebb0d070ed972-1
+[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_multiact/gpu_1/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: 289, duration: 19.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.714388604069539, 'joint_sparc_mean': -7.412001645773471, 'ee_isj': 1296.508693919146, 'joint_isj': 25055.03735628714, 'ee_path_length': 2.2529330547145827, 'joint_rmse_mean': 1.0393568693799542, 'ee_speed_max': 0.48907986283302307, 'ee_speed_mean': 0.11105808615684509}, events: {'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 2, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 528.519, 'policy_inference_avg_ms': 1828.8, 'env_step_s': 65.076, 'env_step_avg_ms': 225.2, 'video_write_s': 2.423, 'video_write_avg_ms': 8.4, 'wall_total_s': 596.018, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 71e44b51833d46d194949b6710604085-2
+----------------------------------------------------------------------- EXPERIMENT SUMMARY ------------------------------------------------------------------------
+Task Name                       Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)                 15/15    100.0%  [79.4-99.8]    1.000        -           19.58   -6.95    2.38       11.9        0.40 12.6       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaThenRubiksCubeTask        3/3      100.0%  [39.8-99.4]    1.000        -           23.53   -7.89    2.50       10.1        0.41 14.5       
+BlockStackingSpecifiedOrderTask 3/3      100.0%  [39.8-99.4]    1.000        -           26.47   -8.80    3.31       11.7        0.46 14.6       
+FoodPacking1CansTask            3/3      100.0%  [39.8-99.4]    1.000        -           18.91   -6.30    2.48       12.6        0.49 10.6       
+FruitsOnionToPlateTask          3/3      100.0%  [39.8-99.4]    1.000        -           10.82   -4.80    1.73       15.1        0.30 9.0        
+ReorientRedMugTask              3/3      100.0%  [39.8-99.4]    1.000        -           18.16   -6.95    1.88       10.0        0.33 14.4       
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
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["functools.partial(<function object_in_container at 0x7fd1b037e0c0>, object='rubiks_cube', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["conjunction", "simple"], "_task_attributes": ["conjunction", "simple"], "_task_name": "BananaThenRubiksCubeTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "put the banana then the cube in the bowl", "contact_object_list": ["rubiks_cube", "banana", "bowl", "table"], "_instruction_variants": {"default": "put the banana then the cube in the bowl", "vague": "put banana then cube away", "specific": "First pick up the yellow banana and place it in the bowl, then pick up the rubiks cube and place it in the bowl after"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BananaThenRubiksCubeTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6e7df12d7ac88a4b400d55bf92ee2bed991de7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": true, "final_step": 305, "events": [{"step": 79, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 81, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 137, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 185, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 233, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 233, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 294, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 294, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 295, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 303, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 305, "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_multiact/gpu_1/robolab/BananaThenRubiksCubeTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BananaThenRubiksCubeTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51d841b6305f08467a2a2ed68ad6e7769c7d964
--- /dev/null
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d31bf0e7e1bb9276e0de4575b711fe492d5c8b
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": true, "final_step": 462, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 41, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 51, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 51, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 111, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 111, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 111, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 117, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.189m", "score": 0.0}, {"step": 145, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 161, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.085m", "score": 0.0}, {"step": 169, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 169, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.082m", "score": 0.0}, {"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 219, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.068m", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 241, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 305, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 305, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 351, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.376m", "score": 0.66}, {"step": 351, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 425, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 425, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 462, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7e204ef87e6f58b8eaab3e6bcaf0880fb43202
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 1, "success": true, "final_step": 343, "events": [{"step": 63, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 65, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 65, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 81, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.157m", "score": 0.0}, {"step": 97, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.053m", "score": 0.0}, {"step": 105, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 110, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 112, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 169, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 169, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 223, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 231, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 237, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.365m", "score": 0.66}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 289, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 343, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
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index 0000000000000000000000000000000000000000..03763cac23a0d8eda1f989e93c4bc4c241af06e5
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+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/BlockStackingSpecifiedOrderTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 2, "success": true, "final_step": 386, "events": [{"step": 49, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 59, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 59, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 65, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.078m", "score": 0.0}, {"step": 102, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.184m", "score": 0.0}, {"step": 104, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 105, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 129, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.33}, {"step": 129, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 1/3", "score": 0.33}, {"step": 175, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.33}, {"step": 217, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.33}, {"step": 233, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.112m", "score": 0.33}, {"step": 272, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 2/3", "score": 0.66}, {"step": 273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.66}, {"step": 273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.381m", "score": 0.66}, {"step": 337, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.66}, {"step": 337, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.66}, {"step": 386, "code": 145, "name": "STACKED_SUCCESS", "info": "Completed subtask 'unnamed_subtask' 3/3", "score": 1.0}]}
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\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FoodPacking1CansTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FoodPacking1CansTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb638b0c9af3af261a6700cc6f3aa694cf2d9cd
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/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": 137, "events": [{"step": 64, "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": 65, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 65, "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": 83, "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": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 137, "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_multiact/gpu_1/robolab/FoodPacking1CansTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FoodPacking1CansTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..259d3abbbf3772f74d43ed26301b73f2d58a802f
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FoodPacking1CansTask/log_1_env0.json
@@ -0,0 +1 @@
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"{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_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..2652ca4816907a831688ec063cd5c5763b241e54
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/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": true, "final_step": 116, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.149m", "score": 0.0}, {"step": 27, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 51, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.072m", "score": 0.0}, {"step": 56, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 58, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 76, "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": 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=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 111, "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": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 116, "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_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f4d2ac81d85ec2f6705995a258192b41a2d290f
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/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": true, "final_step": 150, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.151m", "score": 0.0}, {"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 105, "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": 143, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 143, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=redonion). regressing to step 0 for redonion.", "score": 0.0}, {"step": 150, "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_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6fe651213a8c2530896160fb4acec71c1917f7a
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/FruitsOnionToPlateTask/log_2_env0.json
@@ -0,0 +1 @@
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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 0x7fd1afe35f80>, object='red_mug')", 0.5], ["functools.partial(<function object_upright at 0x7fd1b1f120c0>, 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_multiact/gpu_1/robolab/ReorientRedMugTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d06eb866c46edbf1e6ffe6cd6759f977d59417f
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_1_env0.json
new file mode 100644
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_1/robolab/ReorientRedMugTask/log_2_env0.json
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+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 58782) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d31c22df32d14f5db1fb48247b8c8905-0 (codex/gpt-6-astra) ended: wall=377.596s harness=297.289s tokens=1213644 usage_complete=True decisions=15 executed_steps=116 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_multiact/gpu_1/harness/20261103T144719.534784Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 0b8ed0979d934fb598c3644426ecf72b-1 (codex/gpt-6-astra) ended: wall=483.810s harness=381.278s tokens=1007779 usage_complete=False decisions=19 executed_steps=150 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_multiact/gpu_1/harness/20261103T144719.534784Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode fa8daecc6c684bb498492ab694f8b315-2 (codex/gpt-6-astra) ended: wall=759.454s harness=608.017s tokens=1861207 usage_complete=False decisions=28 executed_steps=221 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_multiact/gpu_1/harness/20261103T144719.534784Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d8015b96cbab4ed6b1476063bf96a8e9-0 (codex/gpt-6-astra) execution_error: wall=2583.822s harness=2469.123s tokens=1930215 usage_complete=False decisions=54 executed_steps=432 steps_complete=False network_wait=11.412125796079636 rate_limit_wait=0 rate_limit_count=0 excluded=11.412125796079636 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T144719.534784Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T16:01:14Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:01:44Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T160146.820994Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T160146.820994Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 57384) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 86157ee484f54e0fa50b44c6dd7368d2-0 (codex/gpt-6-astra) execution_error: wall=2766.169s harness=2649.537s tokens=2474771 usage_complete=False decisions=55 executed_steps=440 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T160146.820994Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T16:49:23Z] GPU 1: BlockStackingSpecifiedOrderTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T16:50:23Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T165025.731916Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T165025.731916Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 60678) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 177fb4a8c1ba47c59e732b0e1399bc0d-0 (codex/gpt-6-astra) ended: wall=1060.846s harness=938.536s tokens=2985207 usage_complete=False decisions=58 executed_steps=462 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_multiact/gpu_1/harness/20261103T165025.731916Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8698564dcadf4d05b36f90e163981a42-1 (codex/gpt-6-astra) ended: wall=765.719s harness=672.409s tokens=1809076 usage_complete=False decisions=43 executed_steps=343 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_multiact/gpu_1/harness/20261103T165025.731916Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 607b931efaf64ff1b7a933e67880e92d-2 (codex/gpt-6-astra) execution_error: wall=3563.624s harness=3415.430s tokens=4713618 usage_complete=False decisions=69 executed_steps=552 steps_complete=False network_wait=29.180024042725563 rate_limit_wait=0 rate_limit_count=0 excluded=29.180024042725563 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T165025.731916Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:23:18Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:23:48Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T182351.552167Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T182351.552167Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 57778) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 709453d347c941d390dc8b5b0e0497a5-2 (codex/gpt-6-astra) execution_error: wall=2659.283s harness=2539.603s tokens=2342562 usage_complete=False decisions=56 executed_steps=448 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T182351.552167Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T19:09:39Z] GPU 1: BlockStackingSpecifiedOrderTask/2: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T19:10:39Z] GPU 1: Starting worker at BlockStackingSpecifiedOrderTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T191042.047285Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T191042.047285Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 35550) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f70b5f73da014759ad043b729fda7ab9-2 (codex/gpt-6-astra) ended: wall=687.139s harness=585.569s tokens=1637104 usage_complete=False decisions=49 executed_steps=386 steps_complete=True network_wait=113.85698396712542 rate_limit_wait=0 rate_limit_count=0 excluded=113.85698396712542 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T191042.047285Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e91f9bd60b4341ea8026f40ffad361da-0 (codex/gpt-6-astra) execution_error: wall=3221.226s harness=3074.048s tokens=4287171 usage_complete=False decisions=57 executed_steps=456 steps_complete=False network_wait=21.153565764427185 rate_limit_wait=0 rate_limit_count=0 excluded=21.153565764427185 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T191042.047285Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T20:20:14Z] GPU 1: ReorientRedMugTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T20:20:44Z] GPU 1: Starting worker at ReorientRedMugTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T202047.260337Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T202047.260337Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 53608) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 09e10e7b04154e9dab755613fa804ee0-0 (codex/gpt-6-astra) ended: wall=679.269s harness=592.245s tokens=2196487 usage_complete=False decisions=32 executed_steps=250 steps_complete=True network_wait=30.91176761686802 rate_limit_wait=0 rate_limit_count=0 excluded=30.91176761686802 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T202047.260337Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5e01da35a99a487d9f8cfcbdb98fb346-1 (codex/gpt-6-astra) execution_error: wall=3150.564s harness=2985.113s tokens=3164211 usage_complete=False decisions=57 executed_steps=456 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T202047.260337Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T21:27:04Z] GPU 1: ReorientRedMugTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:27:35Z] GPU 1: Starting worker at ReorientRedMugTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T212737.267945Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8001
+INFO:websockets.server:server listening on 127.0.0.1:8001
+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', 45178) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6035e1493a0f4b81b796f40effb3c822-1 (codex/gpt-6-astra) ended: wall=1428.030s harness=1294.975s tokens=4312782 usage_complete=False decisions=51 executed_steps=408 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7360cc7cc4024c8ca02a6cced93eea0d-2 (codex/gpt-6-astra) ended: wall=461.315s harness=408.823s tokens=1711594 usage_complete=True decisions=20 executed_steps=159 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 33bef04c707a4d99a7fcf3fe1186becc-0 (codex/gpt-6-astra) ended: wall=720.751s harness=644.681s tokens=2257863 usage_complete=False decisions=39 executed_steps=305 steps_complete=True network_wait=9.905451081693172 rate_limit_wait=0 rate_limit_count=0 excluded=9.905451081693172 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 04f4a7eee5a044a09f5d8d5e1963db75-1 (codex/gpt-6-astra) ended: wall=973.197s harness=875.948s tokens=3693351 usage_complete=False decisions=49 executed_steps=390 steps_complete=True network_wait=19.662362657487392 rate_limit_wait=0 rate_limit_count=0 excluded=19.662362657487392 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6a2aeb923c134c5ababa685dad78387b-2 (codex/gpt-6-astra) ended: wall=881.713s harness=790.195s tokens=3414106 usage_complete=False decisions=46 executed_steps=364 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8a9b4b28bc414b19ae3bde1918f7ad90-0 (codex/gpt-6-astra) ended: wall=237.537s harness=199.659s tokens=770274 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 878053912548455ab0bebb0d070ed972-1 (codex/gpt-6-astra) ended: wall=1066.087s harness=953.103s tokens=4277408 usage_complete=False decisions=54 executed_steps=425 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 71e44b51833d46d194949b6710604085-2 (codex/gpt-6-astra) ended: wall=596.223s harness=520.303s tokens=2351858 usage_complete=False decisions=37 executed_steps=289 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_multiact/gpu_1/harness/20261103T212737.267945Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 45178) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/client.log b/harness_robolab_exploration/embo_multiact/gpu_2/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..6569298b2daf7441108eea092bc69d5728d4f937
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_2/client.log
@@ -0,0 +1,3485 @@
+[2026-11-03T14:47:17Z] 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_20261103_144722.log
+2026-11-03T14:47:22Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T14:47:22Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T14:47:22Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:22Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:22Z [29ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:22Z [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/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T14:47:22Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:22Z [43ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:22Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:22Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:22Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:22Z [81ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:22Z [90ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:22Z [96ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:22Z [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'
+2026-11-03T14:47:22Z [123ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:22Z [128ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:28Z [5,712ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:28Z [5,713ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:28Z [5,836ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:30Z [7,905ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:30Z [7,907ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:30Z [7,908ms] [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: 916795
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:36Z [14,658ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:36Z [14,658ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 899.38   3.82   8.81  11.29   7.80   8.68  13.02  15.44 
+     1   6.63 906.32   8.65   6.15   6.84   6.13   5.71   8.62 
+     2  15.76   4.57 903.18   9.37   8.38   8.55  11.68  14.64 
+     3   7.88   6.27   5.08 893.88  11.97  16.09  16.51  14.52 
+     4   4.22   8.36  13.25   6.77 903.72  13.78  15.70  11.83 
+     5   9.48   3.73  12.80  14.19   2.71 903.18  11.58   4.93 
+     6  15.21  16.29  11.19   9.88   5.08   2.03 878.30   2.57 
+     7  14.03  19.40  15.34   9.44   5.87   3.40   1.74 902.14 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.40  11.35  11.31  12.04  11.73  28.57  11.32 540.58 
+     1  37.02   1.33  15.38  15.98  20.91  12.37  17.14  16.97 
+     2 113.69  32.22   1.34  15.98  24.92  16.31  12.85  15.92 
+     3  89.34  18.32  14.93   1.35  25.39  16.26  15.04  15.54 
+     4 268.64 601.58 579.61 797.76   1.56 184.48 238.78 461.50 
+     5  83.44  14.15  10.72  60.74  42.37   1.43  14.33  40.20 
+     6  54.24  98.18  60.92  64.33  66.92  34.64   1.37  54.49 
+     7  39.92  13.26  92.00  13.93  14.80 687.53  21.42   1.34 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.97   8.62   8.27   7.89   7.20   7.24   7.11   7.11 
+     1   8.94   2.56   7.87   7.83   7.23   7.11   7.04   6.88 
+     2   8.00   7.91   2.54   7.95   7.31   7.53   7.08   7.13 
+     3   7.97   7.77   7.84   2.49   7.26   7.19   7.20   7.06 
+     4   7.58   7.63   8.04   7.49   2.36   6.85   6.76   6.73 
+     5   7.67   7.36   7.47   7.38   6.86   2.25   6.84   6.82 
+     6   7.57   7.47   7.50   7.42   6.89   6.59   2.35   6.64 
+     7   7.34   7.15   7.28   7.12   6.62   6.63   6.69   2.23 
+2026-11-03T14:47:44Z [22,377ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.7 GB/s.
+2026-11-03T14:47:44Z [22,378ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 797.8 us.
+2026-11-03T14:47:44Z [22,378ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:48Z [26,388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [26,528ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,528ms] [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)
+2026-11-03T14:47:48Z [26,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:48Z [26,548ms] [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)
+2026-11-03T14:47:49Z [26,770ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,770ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:49Z [26,783ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:49Z [26,784ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:50Z [28,097ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [30,801ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [44,210ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:07Z [45,708ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [62,149ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [62,153ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [62,840ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [68,289ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,290ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,293ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [68,317ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [68,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,340ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T14:48:46Z [83,925ms] [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@ <0x55b44b027730>)
+
+2026-11-03T14:48:46Z [83,926ms] [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@ <0x55b44b027730>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T14:48:54Z [91,944ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 2.404731 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:49:00Z [98,368ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [98,368ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [98,400ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [98,400ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [98,407ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [98,414ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:00Z [98,659ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [98,677ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:01Z [99,642ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((20))' not available in the MDL representation.
+2026-11-03T14:49:01Z [99,642ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((20))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,351ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((30))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,351ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((30))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,371ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,371ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,498ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-03T14:49:02Z [100,498ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,479ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,479ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,483ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,483ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,491ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,491ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,498ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,498ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,508ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,508ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,537ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,537ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,593ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,690ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,690ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,690ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,699ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T14:49:03Z [101,699ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,768ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-03T14:49:07Z [104,769ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-03T14:49:07Z [105,515ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:08Z [105,948ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((20))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,948ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((20))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,950ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((30))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,950ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((30))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,951ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,951ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((41))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,953ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,953ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((59))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,954ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((88))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,955ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,955ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((90))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((91))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,956ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,956ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((92))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,957ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,957ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f6c167ec/OmniPBR::::OmniPBR::OmniPBR((95))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,958ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,958ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,959ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,960ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((128))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,961ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,961ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,961ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,962ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,962ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,965ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+2026-11-03T14:49:08Z [105,966ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((215))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 11.729945 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_multiact/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: 153, duration: 10.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.309226327695754, 'joint_sparc_mean': -5.015195164151621, 'ee_isj': 1023.7095252947292, 'joint_isj': 35638.077486494585, 'ee_path_length': 1.8130411902761099, 'joint_rmse_mean': 1.2809514912933708, 'ee_speed_max': 0.5597531199455261, 'ee_speed_mean': 0.1624959260225296}, events: {'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 610.837, 'policy_inference_avg_ms': 3992.4, 'env_step_s': 84.895, 'env_step_avg_ms': 554.9, 'video_write_s': 1.598, 'video_write_avg_ms': 10.4, 'wall_total_s': 697.33, 'it_per_sec': 0.22}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e6810b96dc8846aca18f817054ad083e-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_multiact/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: 224, duration: 14.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.26786481307315, 'joint_sparc_mean': -6.04145079860096, 'ee_isj': 1208.9389409970513, 'joint_isj': 35194.846856008095, 'ee_path_length': 2.0180170659739955, 'joint_rmse_mean': 1.2748692153858232, 'ee_speed_max': 0.40149345993995667, 'ee_speed_mean': 0.1270553171634674}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 789.172, 'policy_inference_avg_ms': 3523.1, 'env_step_s': 124.459, 'env_step_avg_ms': 555.6, 'video_write_s': 2.052, 'video_write_avg_ms': 9.2, 'wall_total_s': 915.683, 'it_per_sec': 0.24}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7e5ae33abfd8416b92107726be8a7bd4-1
+[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_multiact/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: 265, duration: 17.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.370289609837416, 'joint_sparc_mean': -7.95752426892875, 'ee_isj': 3295.0979174578642, 'joint_isj': 496806.5617634956, 'ee_path_length': 2.618452530228452, 'joint_rmse_mean': 1.4203232278355917, 'ee_speed_max': 0.7695627212524414, 'ee_speed_mean': 0.13848692178726196}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 850.848, 'policy_inference_avg_ms': 3210.7, 'env_step_s': 146.625, 'env_step_avg_ms': 553.3, 'video_write_s': 2.268, 'video_write_avg_ms': 8.6, 'wall_total_s': 999.741, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8ac8b27bca6b43218f7b47da6ee8952b-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
+2026-11-03T15:34:18Z [2,815,963ms] [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 : 2.145046 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:34:23Z [2,820,759ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:34:23Z [2,820,759ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:23Z [2,820,768ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:34:23Z [2,820,768ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:23Z [2,820,777ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:23Z [2,820,784ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:34:23Z [2,820,803ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T15:34:23Z [2,821,277ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,277ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,306ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,306ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,308ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,309ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,334ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,334ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,350ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,370ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,371ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,429ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,429ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,453ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,464ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((462))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,464ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((462))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,472ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,472ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,516ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((487))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,516ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((487))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,574ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((522))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,574ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((522))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,215ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,215ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eeb21d5c/OmniPBR::::OmniPBR::OmniPBR((376))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,217ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,217ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_279b4001/OmniPBR::::OmniPBR::OmniPBR((391))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,217ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,217ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c2405c95/OmniPBR::::OmniPBR::OmniPBR((392))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_60212034/OmniPBR::::OmniPBR::OmniPBR((409))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,219ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,220ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((418))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,220ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,221ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_53d526fc/OmniPBR::::OmniPBR::OmniPBR((427))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,222ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,222ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_495011f7/OmniPBR::::OmniPBR::OmniPBR((445))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,223ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,223ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,223ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_420cf0e3/Shader::::OmniPBR::OmniPBR((455))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,224ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((462))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,224ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_610e1cba/OmniPBR::::OmniPBR::OmniPBR((462))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,225ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,225ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,227ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((487))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,227ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_cab0659/OmniPBR::::OmniPBR::OmniPBR((487))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,229ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((522))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,229ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bb6f17c0/OmniPBR::::OmniPBR::OmniPBR((522))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 4.302893 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : SpoonInMugTask                                │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the metal spoon that's in the wooden bowl in the mug │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : SpoonInMugTaskSceneEnvCfg                     │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running SpoonInMugTask_0: 'Put the metal spoon that's in the wooden bowl in the mug' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/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: 137, duration: 9.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.03425625439811, 'joint_sparc_mean': -7.02255962270503, 'ee_isj': 858.3300973353305, 'joint_isj': 20147.934695553253, 'ee_path_length': 1.5516275961080348, 'joint_rmse_mean': 0.7417613801283455, 'ee_speed_max': 0.5051108002662659, 'ee_speed_mean': 0.15940122306346893}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 400.217, 'policy_inference_avg_ms': 2921.3, 'env_step_s': 69.21, 'env_step_avg_ms': 505.2, 'video_write_s': 1.506, 'video_write_avg_ms': 11.0, 'wall_total_s': 470.933, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 33be6a89e33649468fbfd1648d3d865d-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_multiact/gpu_2/robolab/SpoonInMugTask/log_1_env0.json.
+SpoonInMugTask_1 complete: task_name: SpoonInMugTask, run_name: SpoonInMugTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the metal spoon that's in the wooden bowl in the mug, attributes: ['affordance', 'spatial', 'moderate'], success: True, episode_step: 154, duration: 10.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.562418853826339, 'joint_sparc_mean': -7.040693923305325, 'ee_isj': 759.8119802585976, 'joint_isj': 24309.72081682516, 'ee_path_length': 1.5515559052643089, 'joint_rmse_mean': 0.7541469023639281, 'ee_speed_max': 0.4233260452747345, 'ee_speed_mean': 0.1426667720079422}, events: {'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'MULTIPLE_OBJECTS_GRABBED': 1, 'TARGET_OBJECT_DROPPED': 4, 'wrong_objects_grabbed': ['wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 491.564, 'policy_inference_avg_ms': 3192.0, 'env_step_s': 77.584, 'env_step_avg_ms': 503.8, 'video_write_s': 1.729, 'video_write_avg_ms': 11.2, 'wall_total_s': 570.878, 'it_per_sec': 0.27}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: af4f2af207c04b3da86ea0e569779914-1
+[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_multiact/gpu_2/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': -6.708757013307322, 'joint_sparc_mean': -9.0534277346402, 'ee_isj': 4088.869215498717, 'joint_isj': 350693.7056967587, 'ee_path_length': 3.829286034458663, 'joint_rmse_mean': 0.9379107640229368, 'ee_speed_max': 0.9649359583854675, 'ee_speed_mean': 0.06179167702794075}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1}, instruction_type: default, timing: {'policy_inference_s': 1094.443, 'policy_inference_avg_ms': 1216.0, 'env_step_s': 452.894, 'env_step_avg_ms': 503.2, 'video_write_s': 6.71, 'video_write_avg_ms': 7.5, 'wall_total_s': 1554.047, 'it_per_sec': 0.58}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spoon_big) (step 1/2), harness_episode_id: 076aaea4b093452eba035d2f0cf4b025-2
+[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
+2026-11-03T16:19:17Z [5,515,046ms] [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 : 0.209601 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:19:21Z [5,518,838ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T16:19:21Z [5,518,952ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:19:21Z [5,518,952ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:19:21Z [5,518,963ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:19:21Z [5,518,963ms] [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.
+2026-11-03T16:19:21Z [5,518,972ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:19:21Z [5,518,979ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:19:21Z [5,519,607ms] [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((560))' not available in the MDL representation.
+2026-11-03T16:19:21Z [5,519,608ms] [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((560))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,537ms] [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((625))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,537ms] [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((625))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,564ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,565ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,590ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((641))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,590ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((641))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,599ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((643))' not available in the MDL representation.
+2026-11-03T16:19:24Z [5,522,599ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((643))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,406ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,406ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,428ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((680))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,428ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((680))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,478ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,478ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,480ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((698))' not available in the MDL representation.
+2026-11-03T16:19:25Z [5,523,480ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((698))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,614ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,615ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((632))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,616ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((641))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,616ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((641))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,616ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((643))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,616ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((643))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,618ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,618ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((669))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,619ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((680))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,619ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((680))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,621ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+2026-11-03T16:19:26Z [5,524,621ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((697))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 9.519572 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_multiact/gpu_2/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: 257, duration: 17.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.3848190510772085, 'joint_sparc_mean': -9.372667040122748, 'ee_isj': 728.273452974568, 'joint_isj': 72138.15292350578, 'ee_path_length': 1.8029730033482783, 'joint_rmse_mean': 0.9389356411092935, 'ee_speed_max': 0.3584177792072296, 'ee_speed_mean': 0.1010475605726242}, events: {'TARGET_OBJECT_DROPPED': 5, 'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 463.649, 'policy_inference_avg_ms': 1804.1, 'env_step_s': 71.986, 'env_step_avg_ms': 280.1, 'video_write_s': 2.69, 'video_write_avg_ms': 10.5, 'wall_total_s': 538.326, 'it_per_sec': 0.48}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d65a20aae30f4bcfa14bef644c441195-0
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
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+2026-11-03T17:26:05Z [9,523,062ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T17:26:09Z] GPU 2: ClampInRightBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:26:39Z] GPU 2: Starting worker at ClampInRightBinTask/1 (resume=--resume)
+[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_20261103_172643.log
+2026-11-03T17:26:43Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T17:26:43Z [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/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T17:26:43Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T17:26:43Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T17:26:43Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T17:26:43Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T17:26:43Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T17:26:43Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T17:26:43Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T17:26:43Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T17:26:43Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T17:26:43Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T17:26:43Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T17:26:43Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T17:26:43Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T17:26:43Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T17:26:43Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T17:26:47Z [3,673ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:47Z [3,674ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:47Z [3,761ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T17:26:48Z [4,474ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:48Z [4,475ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:48Z [4,477ms] [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: 858173
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T17:26:50Z [6,584ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T17:26:50Z [6,585ms] [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 
+     0 910.63  18.51  19.27  16.33  19.15  18.42  19.09  19.24 
+     1  20.01 919.66  18.92  18.77   7.26  19.73  19.71  19.32 
+     2  19.49  18.95 921.29  17.81  19.25  19.15  19.31  19.32 
+     3  17.71  19.74  19.09 919.12  19.57  19.82  19.16  19.91 
+     4   8.29  21.98  22.12  22.45 917.35  22.41  22.05  22.51 
+     5  20.13  22.21  20.81  22.26  22.59 919.66  22.19  22.08 
+     6  20.06  22.19  21.99  22.44  22.32  22.29 919.66  22.52 
+     7  20.07  22.28  21.10  22.06  22.54  22.15  22.51 921.64 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.43  13.92  12.88  12.49  13.14  13.11  14.70  15.08 
+     1  13.82   1.42  11.38  13.68  14.11  12.53  13.57  13.68 
+     2  11.53  13.67   1.33  12.43  13.63  15.21  11.58  13.12 
+     3  11.65  16.79  11.46   1.32  13.72  12.67  11.34  14.97 
+     4  13.81  13.62  12.81  13.58   1.38  13.39  10.57  10.34 
+     5  14.90  13.73  12.55  14.79  10.31   1.47  17.76  10.58 
+     6  14.78  15.47  18.09  12.30  10.58  14.05   1.43  10.33 
+     7  12.97  12.31  12.28  13.25  11.43  11.01  10.53   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.00   9.79   9.97   9.51   7.99   7.88   7.81   7.75 
+     1   9.82   2.85   9.80   9.31   7.91   7.86   7.72   7.57 
+     2   9.52   9.37   2.80   9.45   8.09   8.20   7.85   7.78 
+     3   9.82  13.82   9.97   4.34   9.92   8.51   7.65   7.65 
+     4   8.59   8.42   8.50   8.35   2.24   6.77   6.77   6.87 
+     5   8.43   8.19   8.28   8.32   6.78   2.21   6.70   6.62 
+     6   8.41   8.38  15.08  17.91  11.46   6.71   2.20   6.49 
+     7   7.40   7.29   7.38   7.35   6.62   6.52   7.02   2.18 
+2026-11-03T17:26:53Z [9,398ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 7.3 GB/s.
+2026-11-03T17:26:53Z [9,399ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.1 us.
+2026-11-03T17:26:53Z [9,399ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T17:26:56Z [12,689ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [12,690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:56Z [12,830ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [12,831ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:56Z [12,841ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [12,841ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:56Z [13,025ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [13,025ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:56Z [13,030ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [13,030ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:56Z [13,035ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:26:56Z [13,035ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:26:57Z [14,149ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T17:27:01Z [17,709ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T17:27:11Z [27,253ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T17:27:12Z [28,384ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T17:27:24Z [40,815ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T17:27:24Z [40,818ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T17:27:25Z [41,345ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T17:27:28Z [44,373ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:27:28Z [44,373ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:27:28Z [44,373ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:27:28Z [44,387ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T17:27:28Z [44,399ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:27:28Z [44,399ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T17:27:42Z [59,027ms] [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@ <0x562913278230>)
+
+2026-11-03T17:27:42Z [59,028ms] [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@ <0x562913278230>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 7 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` 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
+2026-11-03T17:27:50Z [66,603ms] [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 : 0.454894 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:27:55Z [71,976ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:27:55Z [71,977ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:27:55Z [72,047ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:27:55Z [72,048ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:27:55Z [72,057ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:27:55Z [72,065ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:27:56Z [72,241ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:27:56Z [72,261ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:27:59Z [75,406ms] [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((47))' not available in the MDL representation.
+2026-11-03T17:27:59Z [75,406ms] [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((47))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,287ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,287ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,299ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,299ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,615ms] [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((145))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,615ms] [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((145))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,701ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,716ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,716ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,719ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,720ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,735ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,735ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,785ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((187))' not available in the MDL representation.
+2026-11-03T17:28:02Z [78,785ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((187))' not available in the MDL representation.
+2026-11-03T17:28:05Z [82,106ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T17:28:06Z [82,406ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,406ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((102))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,407ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,407ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4fb69c6d/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ebdb5ba9/Shader::::OmniPBR::OmniPBR((155))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,411ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_45c8a261/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,412ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,413ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((165))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,414ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((187))' not available in the MDL representation.
+2026-11-03T17:28:06Z [82,414ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5f6cc697/OmniPBR::::OmniPBR::OmniPBR((187))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.445233 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] Task `ClampInRightBinTask` run `0` already done. Skipping.
+[RoboLab] Running ClampInRightBinTask_1: 'Put the spring clamp in the right bin' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/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: 273, duration: 18.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -8.0384654777202, 'joint_sparc_mean': -9.633952958939805, 'ee_isj': 1048.4841793530336, 'joint_isj': 20320.775053037738, 'ee_path_length': 2.058636645075454, 'joint_rmse_mean': 1.1228081473857567, 'ee_speed_max': 0.3875727653503418, 'ee_speed_mean': 0.10822796076536179}, events: {'GRIPPER_FULLY_CLOSED': 3, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_HIT_TABLE': 1}, instruction_type: default, timing: {'policy_inference_s': 585.186, 'policy_inference_avg_ms': 2143.5, 'env_step_s': 72.997, 'env_step_avg_ms': 267.4, 'video_write_s': 3.134, 'video_write_avg_ms': 11.5, 'wall_total_s': 661.317, 'it_per_sec': 0.41}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 5ad4578f71814049a4d29d1499c1a4f3-1
+[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_multiact/gpu_2/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: 286, duration: 19.066666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.250890541695887, 'joint_sparc_mean': -9.53119273202196, 'ee_isj': 1007.3393827730144, 'joint_isj': 96859.90162718031, 'ee_path_length': 2.1391475751123816, 'joint_rmse_mean': 0.9430302689728532, 'ee_speed_max': 0.449083536863327, 'ee_speed_mean': 0.10864081978797913}, events: {'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 560.39, 'policy_inference_avg_ms': 1959.4, 'env_step_s': 76.088, 'env_step_avg_ms': 266.0, 'video_write_s': 3.024, 'video_write_avg_ms': 10.6, 'wall_total_s': 639.502, 'it_per_sec': 0.45}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: a34cc4fcb384457da5dc029e27e3212d-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:50:51Z [1,448,162ms] [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 : 0.193976 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:50:54Z [1,450,408ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:50:54Z [1,450,408ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:50:54Z [1,450,416ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:50:54Z [1,450,417ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:50:54Z [1,450,424ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:50:54Z [1,450,431ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:50:54Z [1,450,449ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T17:50:54Z [1,450,781ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,795ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,795ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,827ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,827ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T17:50:54Z [1,450,835ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,632ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,633ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,633ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,634ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((366))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,635ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,635ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((385))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,636ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+2026-11-03T17:50:55Z [1,451,636ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((388))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.386471 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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 72%|███████▏  | 645/900 [30:06<01:16,  3.34it/s]
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 72%|███████▏  | 647/900 [30:07<01:11,  3.54it/s]
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 72%|███████▏  | 648/900 [1:00:09<23:23,  5.57s/it]
+2026-11-03T18:51:05Z [5,061,566ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:51:09Z] GPU 2: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:51:39Z] GPU 2: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+[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_20261103_185143.log
+2026-11-03T18:51:43Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T18:51:43Z [39ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:43Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T18:51:43Z [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'
+2026-11-03T18:51:47Z [3,709ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:47Z [3,709ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:47Z [3,786ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:51:48Z [4,559ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:48Z [4,560ms] [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)
+2026-11-03T18:51:48Z [4,561ms] [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: 864937
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:51:50Z [6,788ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:51:50Z [6,788ms] [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 
+     0 912.41  18.50  19.33  17.18  19.75  19.18  18.93  18.55 
+     1  20.28 918.58  19.05  19.75  20.85  20.22  19.63  19.43 
+     2  19.44  18.65 922.37  19.31  19.99  19.95  19.41  19.22 
+     3  17.82  19.70  19.22 919.12  20.64  21.01  20.14  19.76 
+     4  21.86  22.23  22.01  22.55 923.16  22.33  21.88  22.42 
+     5  19.88  22.17  21.98  22.15  22.08 920.20  21.99  22.20 
+     6  20.06  22.35  21.66  22.13  22.21  21.88 920.74  21.87 
+     7  20.24  22.49  20.94  22.55  22.16  22.20  22.14 919.79 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.52  15.13  12.45  11.90  11.64  11.94  11.85  11.91 
+     1  11.70   1.36  13.37  12.09  11.46  12.61  11.65  13.77 
+     2  13.30  13.95   1.33  11.81  11.55  11.80  11.60  11.77 
+     3  11.68  11.62  19.80   3.22  11.54  14.99  12.06  11.81 
+     4  13.19  12.19  15.82  14.84   1.37  17.62  12.48  14.74 
+     5  11.93  16.76  12.10  11.38  22.50   1.46  13.60  12.65 
+     6  12.49  11.62  12.18  13.30  11.49  11.80   1.42  12.34 
+     7  14.03  12.03  15.56  13.60  12.28  19.02  19.13   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.34   9.73   9.20   9.35  10.74  10.52  10.49  10.50 
+     1   9.41   3.18   9.03   8.86  10.53  10.51  10.47  10.46 
+     2   9.23   9.00   2.92   8.96  10.58  10.59  10.45  10.37 
+     3   9.14   8.92   9.58   3.26  14.38  10.40  10.80  10.52 
+     4  10.38  10.08  10.10  10.35   3.54  11.48  11.79  11.53 
+     5  10.19   9.84  10.16   9.78  11.81   3.44  12.04  12.10 
+     6  10.78  10.08  10.03  10.06  11.93  12.94   4.92  14.69 
+     7  10.73   9.85  10.03   9.81  11.65  11.27  11.52   3.51 
+2026-11-03T18:51:53Z [9,427ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-03T18:51:53Z [9,428ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 22.5 us.
+2026-11-03T18:51:53Z [9,428ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:51:56Z [12,770ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [12,770ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:56Z [12,863ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [12,863ms] [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)
+2026-11-03T18:51:56Z [12,872ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [12,872ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:56Z [13,057ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [13,057ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:56Z [13,063ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [13,063ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:56Z [13,069ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:51:56Z [13,070ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:51:57Z [13,994ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:52:01Z [17,458ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:52:10Z [27,260ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:52:12Z [28,446ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T18:52:25Z [41,828ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T18:52:25Z [41,831ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T18:52:25Z [42,336ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T18:52:29Z [45,449ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:52:29Z [45,450ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:52:29Z [45,450ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:52:29Z [45,472ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T18:52:29Z [45,483ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T18:52:29Z [45,483ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T18:52:43Z [60,025ms] [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@ <0x55a4005dcdd0>)
+
+2026-11-03T18:52:43Z [60,026ms] [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@ <0x55a4005dcdd0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T18:52:51Z [67,552ms] [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 : 0.575526 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T18:52:56Z [72,800ms] [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.
+2026-11-03T18:52:56Z [72,801ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:52:56Z [72,874ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T18:52:56Z [72,874ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:52:56Z [72,882ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T18:52:56Z [72,888ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T18:52:56Z [73,036ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:52:56Z [73,056ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T18:53:03Z [80,241ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T18:53:03Z [80,244ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T18:53:03Z [80,261ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-03T18:53:03Z [80,261ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-03T18:53:03Z [80,367ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T18:53:03Z [80,367ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T18:53:06Z [82,673ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-03T18:53:06Z [82,673ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-03T18:53:06Z [83,354ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T18:53:07Z [83,682ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,682ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((143))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,683ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,683ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((144))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,685ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,685ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,690ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+2026-11-03T18:53:07Z [83,690ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((254))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.654291 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running FoodPacking1BoxesTask_0: 'Pack boxed foods into the bin' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/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: 129, duration: 8.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.306398421315776, 'joint_sparc_mean': -6.908418610645853, 'ee_isj': 1876.3944004021457, 'joint_isj': 101616.59280979214, 'ee_path_length': 1.8119128183882913, 'joint_rmse_mean': 0.8943954711766199, 'ee_speed_max': 0.9738513231277466, 'ee_speed_mean': 0.19837017357349396}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 333.296, 'policy_inference_avg_ms': 2583.7, 'env_step_s': 29.792, 'env_step_avg_ms': 230.9, 'video_write_s': 1.671, 'video_write_avg_ms': 13.0, 'wall_total_s': 364.759, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d9021b372a46485bb2cb75f9f31bda3e-0
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+2026-11-03T19:57:47Z [3,964,310ms] [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.
+[2026-11-03T19:57:51Z] GPU 2: FoodPacking1BoxesTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T19:58:21Z] GPU 2: Starting worker at FoodPacking1BoxesTask/1 (resume=--resume)
+[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_20261103_195826.log
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T19:58:26Z [21ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T19:58:26Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T19:58:26Z [37ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:26Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T19:58:26Z [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'
+2026-11-03T19:58:30Z [3,701ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:30Z [3,702ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:30Z [3,813ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T19:58:31Z [4,896ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:31Z [4,896ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:31Z [4,897ms] [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: 861351
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T19:58:33Z [7,019ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T19:58:33Z [7,020ms] [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 
+     0 911.16  17.13  18.88  17.17  19.80  19.26  18.86  18.78 
+     1  18.82 918.58  19.63  19.69  21.03  21.06  19.07  19.77 
+     2  19.33  18.86 924.01  19.41  19.58  20.31  19.35  18.78 
+     3  17.41  19.82  19.72 919.66  20.22  20.66  19.48  19.02 
+     4  22.15  20.48  22.40  22.48 921.66  22.32  21.99  22.03 
+     5  20.00  22.31  20.68  20.82  22.36 918.04  21.91  22.34 
+     6  20.19  22.43  20.68  22.00  22.01  22.16 919.66  22.08 
+     7  19.99  22.29  20.28  22.25  22.38  21.92  22.08 920.20 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.53  13.64  12.50  11.76  12.85  12.38  11.65  12.42 
+     1  11.82   1.42  12.45  13.00  11.68  12.05  12.45  12.39 
+     2  11.53  11.87   1.34  11.80  11.50  12.05  11.54  11.51 
+     3  12.54  12.99  12.28   1.46  12.92  13.20  14.40  12.85 
+     4  13.46  11.55  12.12  11.91   1.37  11.53  11.54  11.43 
+     5  12.17  15.99  15.51  15.06  19.54   1.46  11.33  11.93 
+     6  15.87  16.89  13.17  12.43  11.35  11.44   1.42  11.54 
+     7  15.76  11.36  15.16  14.73  11.34  11.62  13.62   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.39   9.59  11.10   9.06  10.74  10.70  10.83  10.52 
+     1   9.41   3.14   9.10   9.02  10.96  10.52  10.48  10.36 
+     2   9.41   9.05   3.08   9.10  11.10  10.76  10.83  10.46 
+     3   9.50   9.07   9.19   2.98  10.93  10.65  10.69  10.43 
+     4  10.24  10.07  10.31  10.17   3.56  12.08  11.75  11.58 
+     5  10.34   9.99  10.08  10.07  11.93   3.53  11.73  11.66 
+     6  10.43  12.08  12.25  10.13  11.90  11.78   3.49  12.34 
+     7  10.15  10.12  10.29  10.27  11.98  11.51  11.70   3.53 
+2026-11-03T19:58:36Z [9,649ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.1 GB/s.
+2026-11-03T19:58:36Z [9,650ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 19.5 us.
+2026-11-03T19:58:36Z [9,650ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T19:58:39Z [12,978ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [12,979ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:39Z [13,086ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [13,086ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:39Z [13,098ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [13,098ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:39Z [13,300ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [13,300ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:39Z [13,306ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [13,306ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:39Z [13,313ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T19:58:39Z [13,313ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T19:58:40Z [14,352ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T19:58:44Z [17,586ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T19:58:53Z [26,946ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T19:58:54Z [28,064ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T19:59:07Z [40,830ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T19:59:07Z [40,833ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T19:59:07Z [41,343ms] [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.
+2026-11-03T19:59:11Z [44,573ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:59:11Z [44,574ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:59:11Z [44,576ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:59:11Z [44,620ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T19:59:11Z [44,635ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:59:11Z [44,635ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T19:59:25Z [59,261ms] [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@ <0x55b694f25470>)
+
+2026-11-03T19:59:25Z [59,262ms] [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@ <0x55b694f25470>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 10 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:59:33Z [66,683ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.435339 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:59:38Z [72,414ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:59:38Z [72,415ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:59:38Z [72,487ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:59:38Z [72,487ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:59:38Z [72,495ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:59:38Z [72,503ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:59:39Z [72,661ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:59:39Z [72,686ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:59:44Z [77,780ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T19:59:44Z [77,781ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,720ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,720ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,740ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,740ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,784ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T19:59:45Z [78,784ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T19:59:49Z [82,802ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T19:59:49Z [83,116ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,117ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,119ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,119ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,120ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,120ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((149))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,121ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+2026-11-03T19:59:49Z [83,121ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((160))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.106311 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `FoodPacking1BoxesTask` run `0` already done. Skipping.
+[RoboLab] Running FoodPacking1BoxesTask_1: 'Pack boxed foods into the bin' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_1_env0.json.
+FoodPacking1BoxesTask_1 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_1, run: 1, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: True, episode_step: 312, duration: 20.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.394623410149366, 'joint_sparc_mean': -8.272367844969953, 'ee_isj': 1629.6908931388145, 'joint_isj': 108471.5794919733, 'ee_path_length': 2.7372856056613295, 'joint_rmse_mean': 0.9861129697846432, 'ee_speed_max': 0.6652870178222656, 'ee_speed_mean': 0.12269987165927887}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 721.999, 'policy_inference_avg_ms': 2314.1, 'env_step_s': 74.341, 'env_step_avg_ms': 238.3, 'video_write_s': 2.904, 'video_write_avg_ms': 9.3, 'wall_total_s': 799.245, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 3a50feb5fb5a4667955db9d062300ed8-1
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+2026-11-03T21:06:34Z [4,087,857ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T21:06:38Z] GPU 2: FoodPacking1BoxesTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:07:08Z] GPU 2: Starting worker at FoodPacking1BoxesTask/2 (resume=--resume)
+[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_20261103_210713.log
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [28ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T21:07:13Z [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'
+2026-11-03T21:07:13Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T21:07:13Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T21:07:13Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T21:07:13Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T21:07:13Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T21:07:13Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T21:07:13Z [70ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T21:07:13Z [72ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T21:07:13Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T21:07:13Z [78ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T21:07:18Z [4,507ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:18Z [4,508ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:18Z [4,598ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T21:07:18Z [5,332ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:18Z [5,333ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:18Z [5,334ms] [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: 861242
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T21:07:20Z [7,431ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T21:07:20Z [7,432ms] [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 
+     0 910.28  17.59  19.34  17.31  19.09  19.99  20.55  21.70 
+     1  20.33 918.04  18.78  19.95  20.94  20.06  21.09  21.98 
+     2  19.44  19.66 920.86  19.41  19.26  20.50  20.52  21.99 
+     3  17.86  20.76  19.10 919.12  21.09  21.09  21.10  22.28 
+     4  21.83  22.23  21.98  22.41 920.28  21.60  22.13  15.87 
+     5  21.98  20.62  22.31  20.50  22.15 921.44  22.09  17.94 
+     6  22.21  20.71  22.17  22.39  22.22  22.10 920.18  18.44 
+     7  22.16  21.86  22.28  22.26  22.26  21.67  22.22 922.37 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.52  11.34  11.50  11.38  11.88  11.41  14.51  14.92 
+     1  11.65   1.44  12.13  15.37  11.60  11.55  11.61  11.98 
+     2  11.66  12.41   1.34  12.64  11.41  12.05  11.42  11.90 
+     3  11.69  12.26  12.19   1.39  11.68  15.71  14.39  13.17 
+     4  11.33  20.08  11.51  11.52   1.37  11.27  11.54  11.42 
+     5  11.41  11.26  20.08  19.70  11.51   1.47  11.64  17.09 
+     6  11.67  11.60  11.33  11.55  11.50  11.48   1.42  11.34 
+     7  19.89  16.68  11.26  11.36  11.61  11.31  11.59   1.39 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.74   8.93   8.52   8.28   7.55   7.31   7.34   9.29 
+     1  13.09   2.86   9.67   9.49   8.13   8.33   7.93   7.78 
+     2  10.35   9.57   2.96   9.74   8.38   8.25   8.08   7.96 
+     3  10.44  10.35  11.04   2.89   8.26   9.09  10.49  14.92 
+     4  12.30   9.48   7.71   7.48   2.35   6.94   6.79   6.85 
+     5   9.10   8.28   8.39   8.33   9.12   2.87   9.31   9.11 
+     6   8.42   8.17   8.41   8.18   9.13   8.88   2.81   9.02 
+     7   8.23   8.04   8.32   8.09   9.59   8.73   8.84   2.76 
+2026-11-03T21:07:23Z [10,033ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.9 GB/s.
+2026-11-03T21:07:23Z [10,034ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.1 us.
+2026-11-03T21:07:23Z [10,034ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T21:07:27Z [13,506ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,506ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:27Z [13,600ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,600ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:27Z [13,612ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,612ms] [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)
+2026-11-03T21:07:27Z [13,800ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,800ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:27Z [13,805ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,805ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:27Z [13,811ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:07:27Z [13,811ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:07:28Z [14,743ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T21:07:31Z [18,162ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T21:07:42Z [28,505ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T21:07:43Z [29,734ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T21:07:57Z [43,544ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T21:07:57Z [43,547ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T21:07:57Z [44,052ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T21:08:00Z [47,116ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:08:00Z [47,117ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:08:00Z [47,120ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:08:00Z [47,139ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T21:08:00Z [47,153ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:08:00Z [47,153ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T21:08:15Z [61,898ms] [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@ <0x55c31fb91d50>)
+
+2026-11-03T21:08:15Z [61,899ms] [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@ <0x55c31fb91d50>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 11 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:08:23Z [70,053ms] [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 : 0.425242 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:08:29Z [75,583ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:08:29Z [75,584ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:08:29Z [75,655ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:08:29Z [75,655ms] [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.
+2026-11-03T21:08:29Z [75,663ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:08:29Z [75,672ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:08:29Z [75,826ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:08:29Z [75,846ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:08:35Z [81,810ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-11-03T21:08:35Z [81,811ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,104ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,104ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,138ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,139ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,148ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:08:35Z [82,148ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:08:39Z [85,875ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T21:08:39Z [86,193ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,193ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_86795b07/Shader::::OmniPBR::OmniPBR((105))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,195ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,195ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,196ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_57ff09c8/OmniPBR::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,196ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+2026-11-03T21:08:39Z [86,197ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_9f8a5dd0/OmniPBR::::OmniPBR::OmniPBR((140))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.805923 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : FoodPacking1BoxesTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Pack boxed foods into the bin                 │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : FoodPacking1BoxesTaskSceneEnvCfg              │
+│  Attributes  : semantics, simple                             │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `FoodPacking1BoxesTask` run `0` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` run `1` already done. Skipping.
+[RoboLab] Running FoodPacking1BoxesTask_2: 'Pack boxed foods into the bin' (run 2, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_2_env0.json.
+FoodPacking1BoxesTask_2 complete: task_name: FoodPacking1BoxesTask, run_name: FoodPacking1BoxesTask_2, run: 2, env_id: 0, policy: harness, instruction: Pack boxed foods into the bin, attributes: ['semantics', 'simple'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -24.326783884099285, 'joint_sparc_mean': -34.48280904512965, 'ee_isj': 434817.4642505944, 'joint_isj': 5364786.9252144005, 'ee_path_length': 17.036148930797772, 'joint_rmse_mean': 1.4445864928900243, 'ee_speed_max': 9.157617568969727, 'ee_speed_mean': 0.29087233543395996}, events: {'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 2, 'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2}, instruction_type: default, timing: {'policy_inference_s': 1589.163, 'policy_inference_avg_ms': 1765.7, 'env_step_s': 194.836, 'env_step_avg_ms': 216.5, 'video_write_s': 8.549, 'video_write_avg_ms': 9.5, 'wall_total_s': 1792.548, 'it_per_sec': 0.5}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=cheez_it) (step 1/2), harness_episode_id: a2b0a0271bb44662b1bbe44785af0a23-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:39:08Z [1,914,636ms] [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 : 0.185230 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:39:11Z [1,917,523ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:39:11Z [1,917,523ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:39:11Z [1,917,532ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:39:11Z [1,917,532ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:39:11Z [1,917,539ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:39:11Z [1,917,546ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:39:11Z [1,917,564ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T21:39:11Z [1,917,883ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((339))' not available in the MDL representation.
+2026-11-03T21:39:11Z [1,917,883ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((339))' not available in the MDL representation.
+2026-11-03T21:39:11Z [1,918,087ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:39:11Z [1,918,087ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:39:11Z [1,918,092ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-03T21:39:11Z [1,918,092ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,697ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((339))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,697ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((339))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,702ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((439))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,703ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+2026-11-03T21:39:12Z [1,918,703ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((440))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 3.993123 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+2026-11-03T22:25:15Z [4,681,944ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T22:25:19Z] GPU 2: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T22:25:49Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+[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_20261103_222553.log
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [25ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [35ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:53Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T22:25:53Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T22:25:53Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T22:25:53Z [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'
+2026-11-03T22:25:57Z [3,493ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:25:57Z [3,494ms] [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)
+2026-11-03T22:25:57Z [3,627ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T22:25:58Z [4,308ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:25:58Z [4,309ms] [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)
+2026-11-03T22:25:58Z [4,310ms] [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: 885550
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T22:25:59Z [6,150ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T22:25:59Z [6,150ms] [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 
+     0 907.26  17.17  19.36  17.28  19.24  20.35  19.68  18.60 
+     1  20.40 919.66  18.89  19.83  21.13  20.30  21.05  19.73 
+     2  19.54  18.76 921.10  19.42  19.33  20.60  20.04  18.87 
+     3  17.79  19.85  18.96 918.63  21.10  20.20  20.91  19.71 
+     4  21.71  22.20  20.67  22.04 922.53  22.38  22.44  22.48 
+     5  20.19  22.41  20.57  22.30  22.22 921.83  22.02  22.22 
+     6  19.72  22.33  20.55  20.81  22.37  21.18 918.49  22.18 
+     7  19.85  21.94  20.64  22.18  22.33  22.28  22.01 924.61 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.52  13.77  11.80  12.82  13.13  13.28  14.57  13.32 
+     1  11.70   1.33  11.45  11.64  15.74  14.11  15.92  12.40 
+     2  14.32  20.55   1.33  16.07  18.69  14.79  12.50  14.95 
+     3  11.62  17.15  12.18   1.46  15.46  15.23  12.20  15.51 
+     4  11.62  12.60  12.93  12.20   1.37  11.12  10.27  10.94 
+     5  14.62  14.51  14.13  14.60  10.31   1.47  10.30  10.29 
+     6  13.21  14.39  13.35  13.35  12.86  11.26   1.43  12.90 
+     7  12.16  12.61  12.28  12.46  10.84  11.22  17.08   1.38 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.15   9.99   9.77   9.73   7.85   8.01   7.75   7.85 
+     1  10.03   2.93   9.71   9.82   7.98   7.83   7.88   7.75 
+     2  10.00   9.69   2.89   9.70   8.00   8.02   7.85   7.79 
+     3   9.88   9.88   9.60   2.83   7.89   7.99   7.83   7.88 
+     4   8.67   8.54   8.46   8.49   2.28   6.86   6.78   6.65 
+     5   8.55   8.44   8.57   8.36   6.61   2.26   6.54   6.82 
+     6   8.54   8.13   8.58   8.43   6.65   6.57   2.14   6.61 
+     7   8.55   8.27   8.44   8.38   6.61   6.60   6.59   2.20 
+2026-11-03T22:26:02Z [8,753ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.2 GB/s.
+2026-11-03T22:26:02Z [8,754ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-03T22:26:02Z [8,754ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T22:26:05Z [12,088ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:05Z [12,089ms] [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)
+2026-11-03T22:26:05Z [12,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:05Z [12,201ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:26:06Z [12,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:06Z [12,213ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:26:06Z [12,392ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:06Z [12,392ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:26:06Z [12,397ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:06Z [12,397ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:26:06Z [12,402ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:26:06Z [12,403ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:26:07Z [13,315ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T22:26:10Z [16,573ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T22:26:20Z [26,393ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T22:26:21Z [27,509ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T22:26:34Z [40,390ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T22:26:34Z [40,393ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T22:26:34Z [40,919ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T22:26:37Z [44,153ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:26:37Z [44,155ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:26:37Z [44,158ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:26:37Z [44,176ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T22:26:37Z [44,190ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:26:37Z [44,191ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T22:26:53Z [59,779ms] [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@ <0x55772b5bc510>)
+
+2026-11-03T22:26:53Z [59,780ms] [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@ <0x55772b5bc510>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 12 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T22:27:01Z [67,466ms] [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 : 0.425834 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T22:27:06Z [72,443ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:27:06Z [72,443ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:27:06Z [72,512ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:27:06Z [72,513ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:27:06Z [72,521ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:27:06Z [72,528ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T22:27:06Z [72,682ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:27:06Z [72,709ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:27:13Z [79,218ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T22:27:13Z [79,219ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T22:27:13Z [79,232ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T22:27:13Z [79,232ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T22:27:13Z [79,373ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T22:27:13Z [79,373ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T22:27:13Z [80,105ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T22:27:14Z [80,409ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T22:27:14Z [80,409ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((134))' not available in the MDL representation.
+2026-11-03T22:27:14Z [80,410ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T22:27:14Z [80,410ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((137))' not available in the MDL representation.
+2026-11-03T22:27:14Z [80,413ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+2026-11-03T22:27:14Z [80,413ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((186))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.608453 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+2026-11-03T23:18:43Z [3,169,788ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T23:18:47Z] GPU 2: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T23:19:47Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+[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_20261103_231952.log
+2026-11-03T23:19:52Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T23:19:52Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
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+2026-11-03T23:19:52Z [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/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T23:19:52Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T23:19:52Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T23:19:52Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
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+2026-11-03T23:19:52Z [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'
+2026-11-03T23:19:52Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T23:19:52Z [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'
+2026-11-03T23:19:52Z [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'
+2026-11-03T23:19:52Z [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'
+2026-11-03T23:19:52Z [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'
+2026-11-03T23:19:55Z [3,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:19:55Z [3,516ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:19:55Z [3,607ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T23:19:56Z [4,226ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:19:56Z [4,227ms] [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)
+2026-11-03T23:19:56Z [4,228ms] [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: 900174
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T23:19:58Z [6,217ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T23:19:58Z [6,218ms] [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 
+     0 910.17  18.62  19.32  17.40  19.06  20.39  19.53  19.67 
+     1  19.80 919.66  19.77  19.75  20.24  21.30  20.72  20.04 
+     2  19.69  19.49 921.83  18.51  19.64  20.94  19.24  19.77 
+     3  18.27  19.94  19.71 920.20  19.86  21.29  20.74  20.15 
+     4  22.11  20.55  22.49  22.37 919.91  22.57  22.58  22.08 
+     5  19.60  22.27  20.68  22.35  22.45 921.32  22.27  22.61 
+     6  19.94  22.25  20.53  22.30  22.10  22.56 919.12  22.16 
+     7  20.03  22.54  20.66  22.41  22.48  21.16  22.56 923.96 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  11.50  11.34  11.51  12.52  14.82  13.78  12.61 
+     1  19.97   1.58  13.53  11.54  11.92  15.21  15.40  11.64 
+     2  20.54  11.55   1.46  11.47  13.30  15.19  14.27  15.13 
+     3  11.56  20.53  20.53   1.40  15.71  12.66  12.03  15.62 
+     4  14.36  14.24  14.44  11.64   1.37  10.34  10.37  10.45 
+     5  14.09  13.87  12.09  13.52  10.73   1.35  10.37  10.74 
+     6  13.69  13.51  13.34  15.11  11.05  10.28   1.48  10.49 
+     7  14.23  14.33  14.09  11.44  10.28  10.29  10.55   1.37 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.63   8.45   8.30   8.63   7.45   7.03   7.22   8.35 
+     1  10.23   3.99  13.25  13.56  10.37   9.44   9.84   9.80 
+     2  11.87  11.88   3.26   9.70   9.65  10.06  10.44   7.73 
+     3   9.78  11.48  12.92   3.63   7.94   7.93   7.95   7.85 
+     4   8.64   8.36   8.46   8.30   2.25   6.74   6.63   6.62 
+     5   8.50   8.23   8.37   8.37   6.65   2.20   6.74   6.59 
+     6   8.55   8.34   8.39   8.42   6.58   6.65   2.34   6.69 
+     7   8.36   8.35   8.35   8.28   6.64   6.50   6.66   2.23 
+2026-11-03T23:20:01Z [8,801ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 17.4 GB/s.
+2026-11-03T23:20:01Z [8,801ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-03T23:20:01Z [8,801ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T23:20:04Z [12,087ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,087ms] [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)
+2026-11-03T23:20:04Z [12,179ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,179ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:20:04Z [12,188ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,188ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:20:04Z [12,365ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,365ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:20:04Z [12,370ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,370ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:20:04Z [12,376ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T23:20:04Z [12,376ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T23:20:05Z [13,238ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T23:20:08Z [16,506ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T23:20:18Z [25,948ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T23:20:19Z [27,042ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T23:20:31Z [39,679ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T23:20:31Z [39,682ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T23:20:32Z [40,156ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T23:20:35Z [43,212ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:20:35Z [43,213ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:20:35Z [43,217ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:20:35Z [43,235ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T23:20:35Z [43,249ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T23:20:35Z [43,249ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-03T23:20:49Z [57,538ms] [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@ <0x55f9db99d410>)
+
+2026-11-03T23:20:49Z [57,540ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </world/franka_table/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@ <0x55f9db99d410>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 12 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T23:20:57Z [65,307ms] [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 : 0.446795 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T23:21:02Z [69,943ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T23:21:02Z [69,943ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:21:02Z [70,025ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T23:21:02Z [70,026ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:21:02Z [70,034ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T23:21:02Z [70,042ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T23:21:02Z [70,193ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:21:02Z [70,220ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T23:21:06Z [74,411ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T23:21:06Z [74,411ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T23:21:06Z [74,646ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T23:21:06Z [74,647ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T23:21:09Z [76,805ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T23:21:09Z [76,806ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,455ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T23:21:09Z [77,736ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,737ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((117))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,738ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,739ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((141))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,744ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+2026-11-03T23:21:09Z [77,744ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((240))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.078326 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : RubiksCubeThenBananaTask                      │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Put the cube then the banana in the bowl      │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : RubiksCubeThenBananaTaskSceneEnvCfg           │
+│  Attributes  : conjunction, simple                           │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running RubiksCubeThenBananaTask_0: 'Put the cube then the banana in the bowl' (run 0, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/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: 340, duration: 22.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.39708195204379, 'joint_sparc_mean': -9.561254371037423, 'ee_isj': 1086.2178521292617, 'joint_isj': 21590.95963755939, 'ee_path_length': 2.469816643867019, 'joint_rmse_mean': 1.1097626740079438, 'ee_speed_max': 0.4732935130596161, 'ee_speed_mean': 0.10333755612373352}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 6, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 809.091, 'policy_inference_avg_ms': 2379.7, 'env_step_s': 71.178, 'env_step_avg_ms': 209.3, 'video_write_s': 3.235, 'video_write_avg_ms': 9.5, 'wall_total_s': 883.504, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: b3614253d4664ffcb9d604c35bc440dc-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_multiact/gpu_2/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: 498, duration: 33.2, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.454779278721425, 'joint_sparc_mean': -13.572644530322581, 'ee_isj': 1501.8221078343156, 'joint_isj': 28205.258908170104, 'ee_path_length': 3.208717608979352, 'joint_rmse_mean': 1.1091240918611869, 'ee_speed_max': 0.4442872703075409, 'ee_speed_mean': 0.090866319835186}, events: {'TARGET_OBJECT_DROPPED': 8, 'OBJECT_BUMPED': 1, 'GRIPPER_FULLY_CLOSED': 4, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 1080.1, 'policy_inference_avg_ms': 2168.9, 'env_step_s': 101.29, 'env_step_avg_ms': 203.4, 'video_write_s': 4.157, 'video_write_avg_ms': 8.3, 'wall_total_s': 1185.547, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: 2dda39c30ab04aeab0079642c6926a30-1
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
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+2026-11-04T00:40:24Z [4,832,442ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-04T00:40:28Z] GPU 2: RubiksCubeThenBananaTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T00:40:58Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/2 (resume=--resume)
+[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_20261104_004102.log
+2026-11-04T00:41:02Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-04T00:41:02Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-04T00:41:02Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-04T00:41:02Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-04T00:41:02Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-04T00:41:02Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-04T00:41:02Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-04T00:41:02Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-04T00:41:02Z [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'
+2026-11-04T00:41:02Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-04T00:41:02Z [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'
+2026-11-04T00:41:02Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-04T00:41:02Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-04T00:41:02Z [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/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-04T00:41:02Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-04T00:41:02Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-04T00:41:02Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-04T00:41:07Z [4,282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:07Z [4,283ms] [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)
+2026-11-04T00:41:07Z [4,365ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-04T00:41:07Z [4,966ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:07Z [4,967ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:07Z [4,968ms] [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: 900414
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-04T00:41:09Z [6,875ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-04T00:41:09Z [6,875ms] [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 
+     0 908.08  16.97  19.36  17.55  19.25  19.74  19.69  19.37 
+     1  20.49 920.20  18.88  20.49  21.05  19.98  20.80  21.13 
+     2  18.67  19.27 921.42  18.77  20.41  19.82  19.41  20.52 
+     3  17.84  19.70  19.02 924.56  21.23  19.74  15.57  21.08 
+     4  21.91  22.50  20.76  22.37 923.55  22.54  21.09  22.51 
+     5  20.40  22.35  22.05  22.46  22.24 923.46  22.39  22.36 
+     6  19.80  10.54  22.38  22.28  22.01  22.31 917.50  22.04 
+     7  20.49  22.16  20.78  22.55  22.32  21.84   8.83 922.88 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.49  11.67  11.80  14.23  16.09  14.64  12.50  14.90 
+     1  11.99   1.58  11.55  13.55  14.84  15.80  15.15  11.80 
+     2  20.56  11.40   1.46  17.78  11.73  15.97  13.81  12.40 
+     3  13.31  13.68  12.75   1.40  13.54  14.97  13.93  13.47 
+     4  13.24  13.68  13.26  14.48   1.37  10.50  10.82  10.29 
+     5  12.21  11.83  13.15  12.94  10.28   1.35  10.48  11.47 
+     6  15.41  13.08  15.05  14.23  11.40  15.35   1.45  15.24 
+     7  12.77  13.34  16.12  14.14  10.46  10.67  10.27   1.46 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.07   9.99   9.82   9.70   8.05   7.79   7.86   7.94 
+     1   9.97   2.94   9.68   9.65   7.80   7.59   7.72   7.78 
+     2   9.71   9.47   2.82   9.44   7.77   7.77   7.81   7.94 
+     3   9.76   9.59   9.62   2.78   7.92   7.69   7.83   8.10 
+     4   8.55   8.29   8.35   8.37   2.21   6.57   6.63   6.66 
+     5   8.47   8.22   8.27   8.20   6.63   2.21   6.63   6.61 
+     6   8.57   8.80   8.92   8.84   6.98   7.01   2.32   7.10 
+     7   9.03   8.96  10.90   8.60   6.74   6.74   6.61   2.31 
+2026-11-04T00:41:12Z [9,564ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 8.8 GB/s.
+2026-11-04T00:41:12Z [9,564ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.6 us.
+2026-11-04T00:41:12Z [9,564ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-04T00:41:15Z [12,900ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:15Z [12,901ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:15Z [12,982ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:15Z [12,982ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:15Z [12,997ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:15Z [12,997ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:16Z [13,181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:16Z [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)
+2026-11-04T00:41:16Z [13,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:16Z [13,186ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:16Z [13,192ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-04T00:41:16Z [13,192ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-04T00:41:17Z [14,114ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-04T00:41:20Z [17,569ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-04T00:41:30Z [27,739ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-04T00:41:31Z [28,894ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-04T00:41:44Z [41,517ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-04T00:41:44Z [41,520ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-04T00:41:45Z [42,120ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-04T00:41:48Z [45,080ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:41:48Z [45,081ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:41:48Z [45,084ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:41:48Z [45,104ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-04T00:41:48Z [45,117ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-04T00:41:48Z [45,118ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 6 task(s): ['MarkerInMugTask', 'SpoonInMugTask', 'ClampInRightBinTask', 'FoodPacking1BoxesTask', 'RubiksCubeThenBananaTask', 'BananaInBowlTask']
+2026-11-04T00:42:02Z [59,714ms] [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@ <0x56490f739f80>)
+
+2026-11-04T00:42:02Z [59,716ms] [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@ <0x56490f739f80>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Environments   : MarkerInMugTask, SpoonInMugTask, ClampInRightBinTask, FoodPacking1BoxesTask, RubiksCubeThenBananaTask, BananaInBowlTask
+  Num Tasks      : 6
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab
+══════════════════════════════════════════════════════════════
+Loaded 14 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/robolab.
+[RoboLab] Task `MarkerInMugTask` already done. Skipping.
+[RoboLab] Task `SpoonInMugTask` already done. Skipping.
+[RoboLab] Task `ClampInRightBinTask` already done. Skipping.
+[RoboLab] Task `FoodPacking1BoxesTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-04T00:42:10Z [67,783ms] [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 : 0.435352 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T00:42:15Z [72,404ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T00:42:15Z [72,405ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:42:15Z [72,484ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T00:42:15Z [72,484ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:42:15Z [72,493ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:42:15Z [72,502ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T00:42:15Z [72,674ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:42:15Z [72,695ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-04T00:42:17Z [75,021ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T00:42:17Z [75,021ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T00:42:17Z [75,047ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T00:42:17Z [75,047ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T00:42:18Z [75,828ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-04T00:42:18Z [75,828ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-04T00:42:22Z [79,997ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-04T00:42:23Z [80,276ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T00:42:23Z [80,276ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((93))' not available in the MDL representation.
+2026-11-04T00:42:23Z [80,277ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T00:42:23Z [80,277ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((106))' not available in the MDL representation.
+2026-11-04T00:42:23Z [80,279ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-04T00:42:23Z [80,279ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.157503 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] Task `RubiksCubeThenBananaTask` run `0` already done. Skipping.
+[RoboLab] Task `RubiksCubeThenBananaTask` run `1` already done. Skipping.
+[RoboLab] Running RubiksCubeThenBananaTask_2: 'Put the cube then the banana in the bowl' (run 2, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/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: 292, duration: 19.466666666666665, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.16247410572957, 'joint_sparc_mean': -10.703366370827842, 'ee_isj': 1117.467632488704, 'joint_isj': 16712.553021922417, 'ee_path_length': 2.0057083838730136, 'joint_rmse_mean': 1.1381943992564987, 'ee_speed_max': 0.5001242160797119, 'ee_speed_mean': 0.09861461073160172}, events: {'TARGET_OBJECT_DROPPED': 4, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 762.175, 'policy_inference_avg_ms': 2610.2, 'env_step_s': 65.056, 'env_step_avg_ms': 222.8, 'video_write_s': 2.648, 'video_write_avg_ms': 9.1, 'wall_total_s': 829.878, 'it_per_sec': 0.35}, score: 1.0, reason: Completed subtask 'pick_and_place' 2/2, harness_episode_id: f918a46eb4c4442ab39bac25f17b35bc-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
+2026-11-04T00:56:47Z [944,419ms] [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: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 : 0.168327 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-04T00:56:49Z [946,561ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-04T00:56:49Z [946,562ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:56:49Z [946,571ms] [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.
+2026-11-04T00:56:49Z [946,571ms] [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.
+2026-11-04T00:56:49Z [946,580ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-04T00:56:49Z [946,589ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-04T00:56:49Z [946,606ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-04T00:56:50Z [947,799ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-04T00:56:50Z [947,800ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-04T00:56:50Z [947,901ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-11-04T00:56:50Z [947,901ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-11-04T00:56:52Z [949,994ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-04T00:56:52Z [949,995ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-04T00:56:52Z [949,996ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+2026-11-04T00:56:52Z [949,996ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((358))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.541851 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_multiact/gpu_2/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: 257, duration: 17.133333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -10.243113864965048, 'joint_sparc_mean': -9.51163394794828, 'ee_isj': 808.3881975430254, 'joint_isj': 24304.09430891429, 'ee_path_length': 1.4199552866229883, 'joint_rmse_mean': 1.2129240479422614, 'ee_speed_max': 0.6446674466133118, 'ee_speed_mean': 0.08036666363477707}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 329.37, 'policy_inference_avg_ms': 1281.6, 'env_step_s': 53.782, 'env_step_avg_ms': 209.3, 'video_write_s': 2.314, 'video_write_avg_ms': 9.0, 'wall_total_s': 385.466, 'it_per_sec': 0.67}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 79bd33753b9a492dafa5db4a77f53b07-0
+[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_multiact/gpu_2/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: 163, duration: 10.866666666666667, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.225309835338741, 'joint_sparc_mean': -7.623925225138153, 'ee_isj': 561.3818853253498, 'joint_isj': 11930.211832533656, 'ee_path_length': 1.2262524296446302, 'joint_rmse_mean': 1.2028386325329856, 'ee_speed_max': 0.5273723602294922, 'ee_speed_mean': 0.10940847545862198}, events: {'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 396.351, 'policy_inference_avg_ms': 2431.6, 'env_step_s': 35.102, 'env_step_avg_ms': 215.3, 'video_write_s': 1.966, 'video_write_avg_ms': 12.1, 'wall_total_s': 433.419, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 323849baabd54bb180d0e4b0a042ca41-1
+[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_multiact/gpu_2/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: 146, duration: 9.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.503306107722757, 'joint_sparc_mean': -6.1980942747329095, 'ee_isj': 670.6723967880646, 'joint_isj': 20881.351554916713, 'ee_path_length': 1.2316441286739652, 'joint_rmse_mean': 1.2184858569921084, 'ee_speed_max': 0.5422970652580261, 'ee_speed_mean': 0.1270027905702591}, events: {'TARGET_OBJECT_DROPPED': 2}, instruction_type: default, timing: {'policy_inference_s': 358.6, 'policy_inference_avg_ms': 2456.2, 'env_step_s': 31.881, 'env_step_avg_ms': 218.4, 'video_write_s': 1.686, 'video_write_avg_ms': 11.5, 'wall_total_s': 392.168, 'it_per_sec': 0.37}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: cb723865a9b941e1b736ad7c403d946c-2
+-------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name                Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (6 tasks)          16/18    88.9%   [66.9-96.6]    0.889        0.000       16.19   -7.66    2.92       13.0        0.39 13.1       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananaInBowlTask         3/3      100.0%  [39.8-99.4]    1.000        -           12.58   -7.32    1.29       10.6        0.47 6.7        
+ClampInRightBinTask      3/3      100.0%  [39.8-99.4]    1.000        -           18.13   -7.22    2.00       10.6        0.45 10.2       
+FoodPacking1BoxesTask    2/3      66.7%   [19.4-93.2]    0.667        0.000       14.70   -11.68   7.20       20.4        0.41 16.4       
+MarkerInMugTask          3/3      100.0%  [39.8-99.4]    1.000        -           14.27   -5.65    2.15       14.3        0.24 14.5       
+RubiksCubeThenBananaTask 3/3      100.0%  [39.8-99.4]    1.000        -           25.11   -8.34    2.56       9.8         0.38 16.1       
+SpoonInMugTask           2/3      66.7%   [19.4-93.2]    0.667        0.000       9.70    -5.77    2.31       12.1        0.38 14.4       
+------------------------------------------------------------------------------------------------------------------------------------------------------------
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/ClampInRightBinTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/FoodPacking1BoxesTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/MarkerInMugTask/log_2_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/RubiksCubeThenBananaTask/log_2_env0.json
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0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_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}}}, "actions": {"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": 0}}, "rerender_on_reset": true, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "is_finite_horizon": false, "episode_length_s": 60, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "spoon_big", "container": "ceramic_mug", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"spoon_big": [["functools.partial(<function object_grabbed at 0x7f1992141940>, object='spoon_big')", 0.0], ["functools.partial(<function object_in_container at 0x7f1992141760>, 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_multiact/gpu_2/robolab/SpoonInMugTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f354d0cfdee954106f233f40b53c67947b342ab
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_2/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": 137, "events": [{"step": 58, "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=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 137, "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_multiact/gpu_2/robolab/SpoonInMugTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35d97c6a60031fb51bb0097ff81bbaa891f057f
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/log_1_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 1, "success": true, "final_step": 154, "events": [{"step": 100, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['spoon_big'])", "score": 0.0}, {"step": 100, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 101, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 102, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 102, "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": 103, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "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=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 106, "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": 107, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 107, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 108, "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": 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=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 110, "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": 153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 154, "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_multiact/gpu_2/robolab/SpoonInMugTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13d498b014b84436eae38c4b61aa58919087a47
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/log_2_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "SpoonInMugTask", "env_id": 0, "run": 2, "success": false, "final_step": 900, "events": [{"step": 50, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 50, "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": 101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=spoon_big). regressing to step 0 for spoon_big.", "score": 0.0}, {"step": 116, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=spoon_big). advanced 1 step(s) to step 1 for spoon_big.", "score": 0.0}, {"step": 127, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 132, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.743m", "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=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_multiact/gpu_2/robolab/SpoonInMugTask/run_0.hdf5 b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/run_0.hdf5
new file mode 100644
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+++ b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/SpoonInMugTask/run_0.hdf5
@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/robolab/episode_results.jsonl b/harness_robolab_exploration/embo_multiact/gpu_2/robolab/episode_results.jsonl
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@@ -0,0 +1,3 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_2/server.log b/harness_robolab_exploration/embo_multiact/gpu_2/server.log
new file mode 100644
index 0000000000000000000000000000000000000000..9319e8d9d6de8a855fd6b948d183cc1fd25d3657
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_2/server.log
@@ -0,0 +1,406 @@
+[2026-11-03T14:47:17Z] GPU 2: Starting worker at MarkerInMugTask/0 (resume=false)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T144719.534850Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 43242) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e6810b96dc8846aca18f817054ad083e-0 (codex/gpt-6-astra) ended: wall=697.440s harness=605.989s tokens=1577235 usage_complete=False decisions=20 executed_steps=153 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_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7e5ae33abfd8416b92107726be8a7bd4-1 (codex/gpt-6-astra) ended: wall=915.819s harness=782.108s tokens=2147414 usage_complete=False decisions=28 executed_steps=224 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_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8ac8b27bca6b43218f7b47da6ee8952b-2 (codex/gpt-6-astra) ended: wall=987.171s harness=829.717s tokens=1622739 usage_complete=False decisions=34 executed_steps=265 steps_complete=True network_wait=12.751306064426899 rate_limit_wait=0 rate_limit_count=0 excluded=12.751306064426899 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 33be6a89e33649468fbfd1648d3d865d-0 (codex/gpt-6-astra) ended: wall=471.019s harness=395.907s tokens=1450649 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_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode af4f2af207c04b3da86ea0e569779914-1 (codex/gpt-6-astra) ended: wall=570.978s harness=486.759s tokens=1629832 usage_complete=True decisions=20 executed_steps=154 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_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 076aaea4b093452eba035d2f0cf4b025-2 (codex/gpt-6-astra) ended: wall=1554.691s harness=1066.802s tokens=4127113 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_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d65a20aae30f4bcfa14bef644c441195-0 (codex/gpt-6-astra) ended: wall=538.480s harness=455.500s tokens=1819452 usage_complete=False decisions=33 executed_steps=257 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b1bac61f61c94733a849e5bf1b12e284-1 (codex/gpt-6-astra) execution_error: wall=3426.342s harness=3280.272s tokens=5219264 usage_complete=False decisions=58 executed_steps=464 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T144719.534850Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T17:26:09Z] GPU 2: ClampInRightBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T17:26:39Z] GPU 2: Starting worker at ClampInRightBinTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T172641.705152Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T172641.705152Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 55318) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 5ad4578f71814049a4d29d1499c1a4f3-1 (codex/gpt-6-astra) ended: wall=661.489s harness=576.436s tokens=1801847 usage_complete=True decisions=35 executed_steps=273 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_multiact/gpu_2/harness/20261103T172641.705152Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a34cc4fcb384457da5dc029e27e3212d-2 (codex/gpt-6-astra) ended: wall=639.665s harness=551.333s tokens=1741424 usage_complete=False decisions=36 executed_steps=286 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_multiact/gpu_2/harness/20261103T172641.705152Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a0f596284a1648979f59371c1836656c-0 (codex/gpt-6-astra) execution_error: wall=3605.523s harness=3435.517s tokens=5427643 usage_complete=False decisions=81 executed_steps=648 steps_complete=False network_wait=2.178418606519699 rate_limit_wait=0 rate_limit_count=0 excluded=2.178418606519699 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T172641.705152Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:51:09Z] GPU 2: FoodPacking1BoxesTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T18:51:39Z] GPU 2: Starting worker at FoodPacking1BoxesTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T185141.608159Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T185141.608159Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 55818) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d9021b372a46485bb2cb75f9f31bda3e-0 (codex/gpt-6-astra) ended: wall=364.830s harness=329.167s tokens=1159435 usage_complete=True decisions=17 executed_steps=129 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T185141.608159Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 8725840a03d94e9fa4f43ab91aed14ff-1 (codex/gpt-6-astra) execution_error: wall=3344.647s harness=3231.617s tokens=4133843 usage_complete=False decisions=54 executed_steps=432 steps_complete=False network_wait=140.49397241324186 rate_limit_wait=0 rate_limit_count=0 excluded=140.49397241324186 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T185141.608159Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T19:57:51Z] GPU 2: FoodPacking1BoxesTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T19:58:21Z] GPU 2: Starting worker at FoodPacking1BoxesTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T195824.257338Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T195824.257338Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 55932) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 3a50feb5fb5a4667955db9d062300ed8-1 (codex/gpt-6-astra) ended: wall=690.251s harness=603.214s tokens=1867905 usage_complete=False decisions=39 executed_steps=312 steps_complete=True network_wait=109.15184818208218 rate_limit_wait=0 rate_limit_count=0 excluded=109.15184818208218 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T195824.257338Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 256a2934115f46dc8d8e43130690b681-2 (codex/gpt-6-astra) execution_error: wall=3141.792s harness=3022.883s tokens=3740348 usage_complete=False decisions=54 executed_steps=432 steps_complete=False network_wait=29.487615510821342 rate_limit_wait=0 rate_limit_count=0 excluded=29.487615510821342 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T195824.257338Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T21:06:38Z] GPU 2: FoodPacking1BoxesTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:07:08Z] GPU 2: Starting worker at FoodPacking1BoxesTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T210710.898603Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T210710.898603Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 53410) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode a2b0a0271bb44662b1bbe44785af0a23-2 (codex/gpt-6-astra) ended: wall=1793.051s harness=1561.034s tokens=5466102 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_multiact/gpu_2/harness/20261103T210710.898603Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6a606c0e53f444e1ace0f3c9de8a4aaa-0 (codex/gpt-6-astra) execution_error: wall=2761.422s harness=2642.397s tokens=3023365 usage_complete=False decisions=60 executed_steps=480 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T210710.898603Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T22:25:19Z] GPU 2: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T22:25:49Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T222551.779047Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T222551.779047Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 33158) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode c76b9178702e48309bf648d44ab5e28b-0 (codex/gpt-6-astra) execution_error: wall=3079.435s harness=2964.549s tokens=4980962 usage_complete=False decisions=58 executed_steps=464 steps_complete=False network_wait=7.615786470472813 rate_limit_wait=0 rate_limit_count=0 excluded=7.615786470472813 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T222551.779047Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T23:18:47Z] GPU 2: RubiksCubeThenBananaTask/0: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T23:19:47Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T231950.213014Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T231950.213014Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 40442) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode b3614253d4664ffcb9d604c35bc440dc-0 (codex/gpt-6-astra) ended: wall=883.731s harness=798.599s tokens=3505869 usage_complete=False decisions=43 executed_steps=340 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_multiact/gpu_2/harness/20261103T231950.213014Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2dda39c30ab04aeab0079642c6926a30-1 (codex/gpt-6-astra) ended: wall=1186.045s harness=1064.775s tokens=4875932 usage_complete=False decisions=63 executed_steps=498 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_multiact/gpu_2/harness/20261103T231950.213014Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 9a3d7370b9df40668eacc364dd904f8f-2 (codex/gpt-6-astra) execution_error: wall=2604.579s harness=2493.896s tokens=2482721 usage_complete=False decisions=57 executed_steps=456 steps_complete=False network_wait=14.331280291080475 rate_limit_wait=0 rate_limit_count=0 excluded=14.331280291080475 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261103T231950.213014Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-04T00:40:28Z] GPU 2: RubiksCubeThenBananaTask/2: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-04T00:40:58Z] GPU 2: Starting worker at RubiksCubeThenBananaTask/2 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261104T004100.905387Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261104T004100.905387Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8002
+INFO:websockets.server:server listening on 127.0.0.1:8002
+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', 37202) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f918a46eb4c4442ab39bac25f17b35bc-2 (codex/gpt-6-astra) ended: wall=830.051s harness=753.301s tokens=3182456 usage_complete=False decisions=37 executed_steps=292 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_multiact/gpu_2/harness/20261104T004100.905387Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 79bd33753b9a492dafa5db4a77f53b07-0 (codex/gpt-6-astra) ended: wall=385.597s harness=321.752s tokens=1352471 usage_complete=True decisions=33 executed_steps=257 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_2/harness/20261104T004100.905387Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 323849baabd54bb180d0e4b0a042ca41-1 (codex/gpt-6-astra) ended: wall=433.509s harness=391.432s tokens=1684265 usage_complete=False decisions=21 executed_steps=163 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_multiact/gpu_2/harness/20261104T004100.905387Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode cb723865a9b941e1b736ad7c403d946c-2 (codex/gpt-6-astra) ended: wall=392.263s harness=354.183s tokens=1103501 usage_complete=False decisions=19 executed_steps=146 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_multiact/gpu_2/harness/20261104T004100.905387Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 37202) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/client.log b/harness_robolab_exploration/embo_multiact/gpu_3/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..79610682ca39bf4180c884853729d998aa0125d9
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_3/client.log
@@ -0,0 +1,2643 @@
+[2026-11-03T14:47:17Z] GPU 3: Starting worker at SmallPumpkinInBinTask/0 (resume=false)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_144722.log
+2026-11-03T14:47:22Z [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'
+2026-11-03T14:47:22Z [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'
+2026-11-03T14:47:22Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T14:47:22Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T14:47:22Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T14:47:22Z [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'
+2026-11-03T14:47:22Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T14:47:22Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T14:47:22Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T14:47:22Z [74ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T14:47:22Z [80ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T14:47:22Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T14:47:22Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T14:47:22Z [99ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T14:47:22Z [123ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T14:47:22Z [127ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T14:47:22Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T14:47:28Z [5,716ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:28Z [5,717ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:28Z [5,852ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T14:47:30Z [7,908ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:30Z [7,910ms] [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)
+2026-11-03T14:47:30Z [7,912ms] [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: 917070
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T14:47:36Z [14,517ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T14:47:36Z [14,519ms] [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 
+     0 898.83  13.17  10.30  13.09   6.94   4.62   6.10   6.38 
+     1   4.74 903.18   7.22  10.38   7.83   7.00   7.18   6.28 
+     2  18.15   5.30 899.54  14.12  10.78   6.85   8.16   8.37 
+     3  15.77  10.52  12.34 883.27  13.76  10.07  13.84  12.23 
+     4  10.60  17.82  10.07   5.91 895.50  15.51  14.73  13.83 
+     5   2.64  10.33   9.56  18.57  12.04 894.39  14.81  12.87 
+     6  16.80  13.96  21.36  14.08   2.80   2.44 907.38  10.26 
+     7  18.47  20.51  10.55   5.97   8.25   9.97   2.00 880.78 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.36  47.50  14.84  12.56  12.43  11.51  14.79 604.84 
+     1  41.84   1.43  76.68  15.29  11.72  21.68  17.05 527.03 
+     2  86.95 162.05   1.44  16.46  22.51  21.79  11.89  18.18 
+     3 272.36 113.97 175.62   1.39  99.61  86.21  51.22  28.44 
+     4  44.76 256.01  63.37  87.71   1.51  68.77  37.23  69.66 
+     5  29.52 114.58 461.15 862.00  45.21   2.26  40.58 338.68 
+     6  10.12 184.36 324.82 535.41 533.38  84.75   3.78 315.75 
+     7 240.07  90.53  92.09  76.61  37.57  15.88 1484.51   1.51 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.64   8.34   8.23   8.18   7.23   7.13   7.25   7.38 
+     1   8.25   2.59   8.02   8.26   7.12   7.08   7.18   7.28 
+     2   8.71   8.23   2.58   8.48   7.58   7.39   7.22   7.42 
+     3   8.33   8.23   8.33   2.63   7.29   7.20   7.22   7.17 
+     4   7.71   7.58   7.50   7.46   2.28   6.63   6.45   7.39 
+     5   7.75   7.54   7.72   7.64   6.76   2.31   6.72   6.81 
+     6   7.65   7.37   8.06   7.67   6.73   6.63   2.33   6.83 
+     7   7.45   7.53   7.53   7.51   6.58   6.47   6.63   2.84 
+2026-11-03T14:47:43Z [21,400ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 2.0 GB/s.
+2026-11-03T14:47:43Z [21,400ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1484.5 us.
+2026-11-03T14:47:43Z [21,400ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T14:47:47Z [25,109ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,109ms] [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)
+2026-11-03T14:47:47Z [25,241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,241ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:47Z [25,263ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,263ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:47Z [25,468ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,468ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:47Z [25,473ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,473ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:47Z [25,479ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T14:47:47Z [25,479ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T14:47:48Z [26,458ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T14:47:53Z [30,804ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T14:48:06Z [44,214ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T14:48:08Z [45,800ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T14:48:24Z [62,153ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T14:48:24Z [62,156ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T14:48:25Z [62,841ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T14:48:30Z [68,475ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,475ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,476ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:48:30Z [68,538ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T14:48:30Z [68,598ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T14:48:30Z [68,598ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T14:48:46Z [83,927ms] [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@ <0x55e75fb0b1d0>)
+
+2026-11-03T14:48:46Z [83,929ms] [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@ <0x55e75fb0b1d0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/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
+2026-11-03T14:48:52Z [90,527ms] [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 : 2.441755 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T14:49:00Z [97,884ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [97,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,920ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T14:49:00Z [97,921ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,933ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T14:49:00Z [97,940ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T14:49:00Z [98,244ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:00Z [98,276ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T14:49:07Z [105,237ms] [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((58))' not available in the MDL representation.
+2026-11-03T14:49:07Z [105,238ms] [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((58))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,370ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,370ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,386ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,386ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,430ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,430ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,430ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,452ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,453ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,524ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,524ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:08Z [106,525ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,848ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,848ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,897ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,897ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_5d8a70e0/Shader::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,928ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,929ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,929ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,964ms] [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((181))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,964ms] [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((181))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,975ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,975ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T14:49:09Z [106,976ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,062ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T14:49:10Z [108,563ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,563ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((71))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,564ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,564ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_eb89136f/Shader::::OmniPBR::OmniPBR((73))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,566ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,566ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,566ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((87))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,570ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,570ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,570ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((112))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,572ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e825ed51/Shader::::OmniPBR::OmniPBR((136))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,575ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,576ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,577ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,578ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+2026-11-03T14:49:10Z [108,578ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_4a3d87c5/Shader::::OmniPBR::OmniPBR((184))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.772381 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_multiact/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: 369, duration: 24.6, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.007979252399925, 'joint_sparc_mean': -7.209969018499247, 'ee_isj': 5366.552056426091, 'joint_isj': 105005.78512936122, 'ee_path_length': 3.108061095930602, 'joint_rmse_mean': 1.0879247196552213, 'ee_speed_max': 1.6239333152770996, 'ee_speed_mean': 0.1236150860786438}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_OBJECT': 2, 'TARGET_OBJECT_DROPPED': 7, 'GRIPPER_FULLY_CLOSED': 3, 'MULTIPLE_OBJECTS_GRABBED': 1}, instruction_type: default, timing: {'policy_inference_s': 1025.295, 'policy_inference_avg_ms': 2778.6, 'env_step_s': 254.263, 'env_step_avg_ms': 689.1, 'video_write_s': 2.941, 'video_write_avg_ms': 8.0, 'wall_total_s': 1282.498, 'it_per_sec': 0.29}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 2fba28aef09a4b66bb952c515ccc9627-0
+[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_multiact/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: 265, duration: 17.666666666666668, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.993735574464184, 'joint_sparc_mean': -7.646358533182089, 'ee_isj': 1612.6549949602067, 'joint_isj': 103037.51080087527, 'ee_path_length': 2.26155531773946, 'joint_rmse_mean': 0.9790047708065769, 'ee_speed_max': 0.825304388999939, 'ee_speed_mean': 0.11957789212465286}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_HIT_TABLE': 1, 'GRIPPER_FULLY_CLOSED': 1, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 639.684, 'policy_inference_avg_ms': 2413.9, 'env_step_s': 187.504, 'env_step_avg_ms': 707.6, 'video_write_s': 2.77, 'video_write_avg_ms': 10.5, 'wall_total_s': 829.958, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: e3ea1abbcfc64fbf942d38a254011e81-1
+[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_multiact/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: 140, duration: 9.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.731440271407395, 'joint_sparc_mean': -7.733564478312627, 'ee_isj': 1358.960630386523, 'joint_isj': 12483.396638718536, 'ee_path_length': 1.5366941896933282, 'joint_rmse_mean': 0.8664995336003354, 'ee_speed_max': 0.762328565120697, 'ee_speed_mean': 0.15653236210346222}, events: {'OBJECT_BUMPED': 1, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'TARGET_OBJECT_DROPPED': 1, 'wrong_objects_grabbed': ['whitepackerbottle_a01']}, instruction_type: default, timing: {'policy_inference_s': 396.378, 'policy_inference_avg_ms': 2831.3, 'env_step_s': 98.333, 'env_step_avg_ms': 702.4, 'video_write_s': 1.659, 'video_write_avg_ms': 11.9, 'wall_total_s': 496.371, 'it_per_sec': 0.28}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 78e92f6ca14f4bbeaa82e75f227b47b1-2
+[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
+2026-11-03T15:34:16Z [2,814,031ms] [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 : 0.216177 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T15:34:19Z [2,817,330ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:34:19Z [2,817,331ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:19Z [2,817,340ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T15:34:19Z [2,817,340ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:19Z [2,817,349ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T15:34:19Z [2,817,356ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T15:34:19Z [2,817,375ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T15:34:23Z [2,820,925ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,820,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,820,945ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,820,945ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,820,964ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,820,964ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,289ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((460))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,289ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((460))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,316ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,316ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,612ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((495))' not available in the MDL representation.
+2026-11-03T15:34:23Z [2,821,612ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((495))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,201ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,202ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((406))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,203ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,203ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((414))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,204ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,204ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,207ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((460))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,207ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((460))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,207ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,208ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((466))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,209ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((495))' not available in the MDL representation.
+2026-11-03T15:34:24Z [2,822,210ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((495))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.069753 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running ReorientWhiteMugsTask_0: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/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: 105, duration: 7.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.674420170489369, 'joint_sparc_mean': -5.123227824679175, 'ee_isj': 610.8170964841045, 'joint_isj': 14026.239611301935, 'ee_path_length': 0.9245416755016945, 'joint_rmse_mean': 0.9561941377434954, 'ee_speed_max': 0.28317517042160034, 'ee_speed_mean': 0.12431516498327255}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 1, 'wrong_objects_grabbed': ['sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 294.266, 'policy_inference_avg_ms': 2802.5, 'env_step_s': 30.478, 'env_step_avg_ms': 290.3, 'video_write_s': 1.543, 'video_write_avg_ms': 14.7, 'wall_total_s': 326.287, 'it_per_sec': 0.32}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: f71364e702a4408282112f0f3c4f4fd8-0
+[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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+2026-11-03T16:44:47Z [7,045,092ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T16:44:51Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:45:21Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_164525.log
+2026-11-03T16:45:25Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T16:45:25Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T16:45:25Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T16:45:25Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T16:45:25Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T16:45:25Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T16:45:25Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T16:45:25Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T16:45:25Z [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/d8338a94-67c5-4739-c12147b4-361b1781.dmp'
+2026-11-03T16:45:25Z [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/cb3cbc66-e435-4a53-42ede38d-91749480.dmp'
+2026-11-03T16:45:25Z [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/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T16:45:25Z [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/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T16:45:25Z [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/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T16:45:25Z [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'
+2026-11-03T16:45:25Z [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'
+2026-11-03T16:45:25Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T16:45:25Z [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'
+2026-11-03T16:45:29Z [3,644ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:29Z [3,645ms] [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)
+2026-11-03T16:45:29Z [3,732ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T16:45:30Z [4,485ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:30Z [4,486ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:30Z [4,487ms] [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: 859058
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T16:45:32Z [6,394ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T16:45:32Z [6,395ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 910.02  17.30  19.40  16.40  10.86  19.10  18.59  19.14 
+     1  19.82 919.66  19.57  19.19  19.72  19.22  19.77  19.90 
+     2  19.31  19.27 918.58  17.55  19.39  19.33  18.38  19.39 
+     3  17.46  19.69  20.29 922.37  19.12  19.68  19.83  19.73 
+     4  22.32  21.97  22.15  22.07 917.80  21.19  22.46  21.78 
+     5  22.26  21.99  19.95  22.38  22.02 922.37  22.24  19.69 
+     6  19.67  22.41  21.88  22.91  22.36  21.97 920.64  22.06 
+     7  20.58  22.41  20.52  22.63  22.28  22.05  22.37 918.04 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.69  11.75  11.71  11.53  12.95  12.31  11.37 
+     1  11.64   1.44  11.50  11.52  12.84  12.76  12.44  12.44 
+     2  11.94  11.49   1.43  11.81  12.53  12.35  12.44  12.45 
+     3  12.13  11.50  11.60   1.31  11.49  11.48  11.59  11.57 
+     4  15.28  16.17  14.03  14.82   1.44  14.26  14.42  13.58 
+     5  13.14  13.69  13.76  12.69  11.54   1.38  14.59  11.45 
+     6  17.88  12.12  12.96  15.44  14.84  12.68   1.46  11.34 
+     7  14.09  16.26  15.81  16.35  14.75  14.87  11.78   1.44 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   3.26  10.21   9.24   9.28  10.88  10.75  10.62  10.48 
+     1   9.61   3.30   9.16   9.04  11.01  10.62  12.80  10.65 
+     2   9.52   9.14   3.21   9.24  11.12  11.27  11.16  12.56 
+     3   9.39   9.02   9.13   3.28  10.85  10.72  11.34  10.68 
+     4  10.44  10.14  10.45  10.35   3.73  11.84  11.90  11.67 
+     5  10.53   9.96  10.14  10.10  12.05   3.95  13.67  11.81 
+     6  10.19  10.06  10.27  10.46  12.62  11.92   4.01  12.12 
+     7  10.38  10.17  10.07  10.44  12.23  11.80  11.73   3.50 
+2026-11-03T16:45:34Z [9,069ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 10.9 GB/s.
+2026-11-03T16:45:34Z [9,069ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 17.9 us.
+2026-11-03T16:45:34Z [9,069ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T16:45:38Z [12,658ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:38Z [12,748ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,748ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:38Z [12,758ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,758ms] [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)
+2026-11-03T16:45:38Z [12,936ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,936ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:38Z [12,941ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,941ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:38Z [12,947ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T16:45:38Z [12,947ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T16:45:39Z [13,842ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T16:45:43Z [17,152ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T16:45:52Z [26,765ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T16:45:53Z [27,880ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T16:46:06Z [40,645ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T16:46:06Z [40,647ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T16:46:07Z [41,155ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T16:46:10Z [44,562ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:46:10Z [44,563ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:46:10Z [44,566ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:46:10Z [44,584ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T16:46:10Z [44,597ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T16:46:10Z [44,597ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T16:46:25Z [59,400ms] [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@ <0x560354438760>)
+
+2026-11-03T16:46:25Z [59,402ms] [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@ <0x560354438760>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T16:46:30Z [65,058ms] [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 : 0.477713 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T16:46:35Z [69,628ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T16:46:35Z [69,629ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:46:35Z [69,699ms] [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.
+2026-11-03T16:46:35Z [69,700ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:46:35Z [69,708ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T16:46:35Z [69,716ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T16:46:35Z [69,895ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:46:35Z [69,920ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T16:46:39Z [73,587ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-11-03T16:46:39Z [73,588ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-11-03T16:46:39Z [73,830ms] [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.
+2026-11-03T16:46:39Z [73,830ms] [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.
+2026-11-03T16:46:40Z [74,925ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T16:46:40Z [74,925ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T16:46:42Z [76,477ms] [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.
+2026-11-03T16:46:42Z [76,477ms] [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.
+2026-11-03T16:46:42Z [76,488ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T16:46:42Z [76,489ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T16:46:42Z [76,503ms] [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.
+2026-11-03T16:46:42Z [76,503ms] [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.
+2026-11-03T16:46:43Z [77,550ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T16:46:43Z [77,877ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,877ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((119))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,878ms] [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.
+2026-11-03T16:46:43Z [77,878ms] [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.
+2026-11-03T16:46:43Z [77,879ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,879ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((139))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,880ms] [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.
+2026-11-03T16:46:43Z [77,880ms] [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.
+2026-11-03T16:46:43Z [77,880ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,881ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((148))' not available in the MDL representation.
+2026-11-03T16:46:43Z [77,881ms] [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.
+2026-11-03T16:46:43Z [77,881ms] [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.
+[INFO]: Time taken for simulation start : 12.440084 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+
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+2026-11-03T17:47:39Z [3,733,931ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T17:47:43Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T17:48:43Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_174848.log
+2026-11-03T17:48:48Z [10ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T17:48:48Z [14ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [19ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T17:48:48Z [22ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:48Z [61ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T17:48:48Z [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'
+2026-11-03T17:48:51Z [3,658ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:48:51Z [3,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:48:52Z [3,744ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T17:48:52Z [4,517ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:48:52Z [4,518ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:48:52Z [4,519ms] [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: 856051
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T17:48:54Z [6,287ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T17:48:54Z [6,288ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 916.47  21.80  22.09  21.94  21.73  22.43  21.87  20.97 
+     1  22.27 920.20  21.59  21.91  20.56  22.18  21.57  22.05 
+     2  22.32  21.69 919.29  22.61  22.02  22.41  21.90  22.19 
+     3  22.41  21.84  22.23 922.92  20.17  22.23  21.97  22.49 
+     4  18.69  18.14  18.60  17.99 917.31  17.40  17.04  16.10 
+     5  19.67  18.80  19.53  19.43  18.56 919.66  17.95  18.26 
+     6  18.57  17.98  18.60  17.81  17.35  17.12 921.39  17.19 
+     7  18.45  19.10  19.00  19.01  17.31  17.83  18.36 919.73 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  14.25  10.46  12.22  11.54  12.39  12.77  14.78 
+     1  10.71   1.44  10.78  11.73  11.28  12.41  11.52  13.67 
+     2  10.63  11.07   1.43  15.66  12.12  12.29  15.46  11.46 
+     3  10.53  18.07  10.46   1.30  14.48  13.45  11.35  14.38 
+     4  11.35  11.51  11.63  11.26   1.44  11.35  16.07  11.60 
+     5  12.79  12.03  12.75  15.80  11.89   1.37  11.68  18.54 
+     6  12.85  11.76  12.28  11.95  11.53  11.68   1.46  12.58 
+     7  12.20  12.60  11.82  11.46  11.60  11.36  13.19   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.35   6.98   6.81   7.74   7.97   7.60   7.62   7.53 
+     1   7.00   2.23   6.81   6.75   7.77   7.52   7.62   7.50 
+     2   6.86   6.77   2.31   6.81   7.78   7.62   7.71   7.47 
+     3   6.73   6.69   6.64   2.33   7.83   7.57   7.67   7.57 
+     4   7.45   7.28   7.33   7.38   2.58   8.33   8.30  10.19 
+     5   8.34   8.21   8.43   8.28   9.97   2.90  10.10  12.16 
+     6   7.87   7.73   7.77   7.79   9.69   9.51   2.82   9.54 
+     7   7.77   7.65   7.75   7.77   9.48   9.47   9.55   2.80 
+2026-11-03T17:48:57Z [8,966ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.1 GB/s.
+2026-11-03T17:48:57Z [8,967ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 18.5 us.
+2026-11-03T17:48:57Z [8,967ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T17:49:00Z [12,592ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:00Z [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)
+2026-11-03T17:49:00Z [12,683ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:00Z [12,683ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:49:00Z [12,693ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:00Z [12,694ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:49:01Z [12,877ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:01Z [12,878ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:49:01Z [12,883ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:01Z [12,883ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T17:49:01Z [12,890ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T17:49:01Z [12,891ms] [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)
+2026-11-03T17:49:02Z [13,818ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T17:49:05Z [17,030ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T17:49:14Z [26,566ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T17:49:16Z [27,769ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T17:49:28Z [40,482ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T17:49:28Z [40,484ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T17:49:29Z [40,968ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T17:49:32Z [44,407ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:49:32Z [44,408ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:49:32Z [44,408ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:49:32Z [44,429ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T17:49:32Z [44,443ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T17:49:32Z [44,443ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T17:49:47Z [58,763ms] [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@ <0x55e7ecca9610>)
+
+2026-11-03T17:49:47Z [58,765ms] [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@ <0x55e7ecca9610>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T17:49:52Z [64,496ms] [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 : 0.459399 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T17:49:57Z [69,010ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:49:57Z [69,011ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:49:57Z [69,084ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T17:49:57Z [69,084ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:49:57Z [69,092ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T17:49:57Z [69,099ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T17:49:57Z [69,287ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:49:57Z [69,304ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T17:50:02Z [74,285ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-03T17:50:02Z [74,286ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-03T17:50:02Z [74,356ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-03T17:50:02Z [74,356ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,376ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,376ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,620ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,620ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,655ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T17:50:03Z [75,655ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T17:50:04Z [75,860ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T17:50:04Z [75,860ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T17:50:05Z [76,848ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T17:50:05Z [77,174ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,175ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((116))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,176ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,176ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((130))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,177ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,178ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((150))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,178ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,178ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((156))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,180ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,180ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((169))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,180ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+2026-11-03T17:50:05Z [77,180ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((176))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.321382 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+
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+2026-11-03T18:57:22Z [4,114,102ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T18:57:26Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T18:59:26Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_185930.log
+2026-11-03T18:59:30Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T18:59:30Z [12ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T18:59:30Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T18:59:30Z [17ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T18:59:30Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T18:59:30Z [24ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T18:59:30Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T18:59:30Z [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'
+2026-11-03T18:59:30Z [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'
+2026-11-03T18:59:30Z [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'
+2026-11-03T18:59:30Z [41ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/c23816a2-ba5d-4ba8-eb31e8a1-2ab8db5e.dmp'
+2026-11-03T18:59:30Z [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'
+2026-11-03T18:59:30Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T18:59:30Z [50ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/38676e6f-edcb-41dd-610ef48f-32a88628.dmp'
+2026-11-03T18:59:30Z [52ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T18:59:30Z [56ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T18:59:30Z [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'
+2026-11-03T18:59:33Z [3,515ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:33Z [3,515ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:34Z [3,596ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T18:59:34Z [4,299ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:34Z [4,300ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:34Z [4,301ms] [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: 866433
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T18:59:36Z [6,395ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T18:59:36Z [6,396ms] [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 
+     0 909.62  21.52  22.19  21.71  20.09  22.27  21.53  22.02 
+     1  22.25 918.61  22.15  21.69  20.14  22.23  21.94  22.24 
+     2  22.54  22.19 920.20  22.15  19.98  22.34  20.69  22.50 
+     3  22.50  21.31  21.97 921.74  19.61  22.17  21.75  22.52 
+     4  19.16  18.14  18.79  17.98 922.20  17.43  16.79  16.41 
+     5  20.30  19.02  19.72  18.48  18.70 920.74  17.86  18.68 
+     6  19.28  17.78  18.56  16.96  17.45  17.16 919.12  17.51 
+     7  19.19  19.55  19.41  19.33  17.51  17.86  18.60 919.66 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.86  12.88  15.21  13.41  13.92  14.03  13.32 
+     1  14.15   1.55  19.50  15.23  15.73  12.46  15.12  14.35 
+     2  14.61  11.29   1.44  11.46  11.89  11.58  11.69  11.44 
+     3  16.23  16.50  12.08   1.31  15.34  11.52  11.85  11.68 
+     4  12.40  11.56  13.56  11.30   1.43  11.55  11.46  12.66 
+     5  18.36  11.45  11.38  11.36  11.45   1.36  11.49  11.47 
+     6  12.64  11.66  11.54  19.47  11.50  11.40   1.46  11.52 
+     7  11.72  11.46  20.52  11.51  14.75  11.41  11.43   1.45 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   4.00  12.55  14.91  12.18  10.56  10.22   9.95   9.92 
+     1  12.27   3.90  12.17  11.87  10.17  10.05   9.91   9.84 
+     2  13.10  11.88   3.81  11.99  10.32  10.18   9.96   9.97 
+     3  12.65  11.65  11.94   3.77  10.31  10.13   9.90   9.89 
+     4  11.11  13.43  11.61  10.97   3.04   9.06   8.99   8.84 
+     5  10.91  10.60  10.80  10.63   9.03   3.00   8.87   8.86 
+     6  11.03  10.59  10.71  10.51   8.92   8.88   2.90   8.84 
+     7  11.00  10.69  11.47  11.15   9.40   9.22   9.18   3.21 
+2026-11-03T18:59:39Z [9,088ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.4 GB/s.
+2026-11-03T18:59:39Z [9,285ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.5 us.
+2026-11-03T18:59:39Z [9,285ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T18:59:42Z [12,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:42Z [12,556ms] [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)
+2026-11-03T18:59:43Z [12,639ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:43Z [12,639ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:43Z [12,651ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:43Z [12,652ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:43Z [12,836ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:43Z [12,836ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:43Z [12,840ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:43Z [12,841ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:43Z [12,846ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T18:59:43Z [12,846ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T18:59:44Z [13,730ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T18:59:47Z [16,732ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T18:59:57Z [26,710ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T18:59:58Z [27,822ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T19:00:11Z [41,028ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T19:00:11Z [41,030ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T19:00:11Z [41,531ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T19:00:15Z [44,674ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:00:15Z [44,675ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:00:15Z [44,675ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:00:15Z [44,691ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 7
+
+2026-11-03T19:00:15Z [44,703ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T19:00:15Z [44,703ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T19:00:29Z [59,437ms] [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@ <0x562d3d82c670>)
+
+2026-11-03T19:00:29Z [59,438ms] [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@ <0x562d3d82c670>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab
+══════════════════════════════════════════════════════════════
+Loaded 4 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:00:35Z [65,329ms] [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 : 0.469746 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:00:40Z [70,016ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:00:40Z [70,017ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:00:40Z [70,086ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:00:40Z [70,086ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:00:40Z [70,094ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:00:40Z [70,102ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:00:40Z [70,292ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:00:40Z [70,320ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T19:00:44Z [74,118ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,119ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,147ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,148ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,173ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,174ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,198ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,198ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,439ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T19:00:44Z [74,440ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T19:00:46Z [76,236ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:00:46Z [76,236ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:00:48Z [77,704ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T19:00:48Z [78,041ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,041ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_798abe03/OmniPBR::::OmniPBR::OmniPBR((100))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,042ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,043ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((114))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,044ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,044ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2ab4e081/OmniPBR::::OmniPBR::OmniPBR((125))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,045ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,045ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((135))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,046ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,046ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((142))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,048ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-03T19:00:48Z [78,048ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 12.346213 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : ReorientWhiteMugsTask                         │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Make sure all the white mugs are upright so that the opening is facing upwards. │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : ReorientWhiteMugsTaskSceneEnvCfg              │
+│  Attributes  : reorientation, color, moderate                │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Task `ReorientWhiteMugsTask` run `0` already done. Skipping.
+[RoboLab] Running ReorientWhiteMugsTask_1: 'Make sure all the white mugs are upright so that the opening is facing upwards.' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/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: 73, duration: 4.866666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.149640823157515, 'joint_sparc_mean': -3.9922867929637156, 'ee_isj': 328.1473419767548, 'joint_isj': 11638.34360210405, 'ee_path_length': 0.703247848882046, 'joint_rmse_mean': 0.9607910329338634, 'ee_speed_max': 0.28881481289863586, 'ee_speed_mean': 0.13793689012527466}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 1, 'OBJECT_OUT_OF_SCENE': 1}, instruction_type: default, timing: {'policy_inference_s': 292.386, 'policy_inference_avg_ms': 4005.3, 'env_step_s': 21.832, 'env_step_avg_ms': 299.1, 'video_write_s': 1.145, 'video_write_avg_ms': 15.7, 'wall_total_s': 315.363, 'it_per_sec': 0.23}, score: 1.0, reason: Completed subtask 'reorient_white_mugs' 1/1, harness_episode_id: 584ed8fcdd634177a910b149c3d9cb85-1
+[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_multiact/gpu_3/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': -6.464005433277121, 'joint_sparc_mean': -10.980578859052198, 'ee_isj': 90026.57639953242, 'joint_isj': 2914161.1010076245, 'ee_path_length': 12.772755332712364, 'joint_rmse_mean': 1.507396736380324, 'ee_speed_max': 3.248765230178833, 'ee_speed_mean': 0.20745377242565155}, events: {'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 3, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 1, 'OBJECT_OUT_OF_SCENE': 7, 'OBJECT_MOVED': 7, 'OBJECT_BUMPED': 9, 'wrong_objects_grabbed': ['sideways_white_mug', 'sideways_white_mug', 'sideways_white_mug']}, instruction_type: default, timing: {'policy_inference_s': 1455.461, 'policy_inference_avg_ms': 1617.2, 'env_step_s': 255.807, 'env_step_avg_ms': 284.2, 'video_write_s': 7.505, 'video_write_avg_ms': 8.3, 'wall_total_s': 1718.772, 'it_per_sec': 0.52}, score: 0.0, reason: Condition not satisfied: object_upright(object=sideways_white_mug, require_gripper_detached=True) (step 2/2), harness_episode_id: f13da6b5a33845bb990da59e257afeb8-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T19:35:49Z [2,179,235ms] [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 : 0.254815 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T19:35:52Z [2,182,062ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:35:52Z [2,182,062ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:35:52Z [2,182,071ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T19:35:52Z [2,182,072ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:35:52Z [2,182,080ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T19:35:52Z [2,182,087ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T19:35:52Z [2,182,105ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T19:35:55Z [2,184,634ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,635ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,635ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,646ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,646ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,646ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,667ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,668ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,668ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,706ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,706ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,735ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,736ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,736ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,793ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,793ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c4f6b106/Shader::::OmniPBR::OmniPBR((390))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,808ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,808ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,854ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T19:35:55Z [2,184,854ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,738ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,739ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,739ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_47679dee/Shader::::OmniPBR::OmniPBR((336))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,739ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,740ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,740ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_72a181f3/Shader::::OmniPBR::OmniPBR((338))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,741ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,741ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,741ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_7f0011b0/Shader::::OmniPBR::OmniPBR((344))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,742ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,742ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((355))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,743ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,743ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,743ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e84e5b01/Shader::::OmniPBR::OmniPBR((362))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,745ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,746ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_505bdcdc/OmniPBR::::OmniPBR::OmniPBR((396))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,747ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+2026-11-03T19:35:56Z [2,185,748ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d1bdf4ae/OmniPBR::::OmniPBR::OmniPBR((417))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.384923 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------+
+| Active Event Terms in Mode: 'reset' |
++---------------+---------------+
+|     Index     | Name          |
++---------------+---------------+
+|       0       | reset         |
++---------------+---------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
++---------------------+
+| Active Recorder Terms |
++-----------+---------+
+|   Index   | Name    |
++-----------+---------+
++-----------+---------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++----------------------------------+
+|  Active Action Terms (shape: 8)  |
++-------+--------------+-----------+
+| Index | Name         | Dimension |
++-------+--------------+-----------+
+|   0   | arm_action   |         7 |
+|   1   | finger_joint |         1 |
++-------+--------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 3 groups.
++----------------------------------------------------+
+|   Active Observation Terms in Group: 'image_obs'   |
++-------+---------------------------+----------------+
+| Index | Name                      |     Shape      |
++-------+---------------------------+----------------+
+|   0   | over_shoulder_left_camera | (720, 1280, 3) |
+|   1   | wrist_cam                 | (720, 1280, 3) |
++-------+---------------------------+----------------+
++------------------------------------------------+
+| Active Observation Terms in Group: 'proprio_obs' |
++-----------+------------------------+-----------+
+|   Index   | Name                   |   Shape   |
++-----------+------------------------+-----------+
+|     0     | arm_joint_pos          |    (7,)   |
+|     1     | gripper_pos            |    (1,)   |
+|     2     | ee_pos                 |    (3,)   |
+|     3     | ee_quat                |    (4,)   |
+|     4     | eef_pos                |    (3,)   |
+|     5     | eef_quat               |    (4,)   |
++-----------+------------------------+-----------+
++-------------------------------------------------------+
+|   Active Observation Terms in Group: 'viewport_cam'   |
++--------+-----------------------------+----------------+
+| Index  | Name                        |     Shape      |
++--------+-----------------------------+----------------+
+|   0    | egocentric_mirrored_camera  | (480, 864, 3)  |
++--------+-----------------------------+----------------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
+|   1   | success  |  False   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+┌──────────────────────────────────────────────────────────────┐
+│  Environment : TakeSpatulaOffShelfTask                       │
+├──────────────────────────────────────────────────────────────┤
+│  Instruction : Take the spatula off the shelf and put it on the table │
+│  Instr. Type : default                                       │
+│  Seed        : 0                                             │
+│  Policy      : harness                                       │
+│  Scene       : TakeSpatulaOffShelfTaskSceneEnvCfg            │
+│  Attributes  : affordance, spatial, moderate                 │
+└──────────────────────────────────────────────────────────────┘
+[RoboLab] Running TakeSpatulaOffShelfTask_0: 'Take the spatula off the shelf and put it on the table' (run 0, 1 envs)
+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/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: 131, duration: 8.733333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.289635309159212, 'joint_sparc_mean': -6.54688348940107, 'ee_isj': 1417.4110961492229, 'joint_isj': 45064.40314384798, 'ee_path_length': 1.8147514889158762, 'joint_rmse_mean': 0.9570613684123853, 'ee_speed_max': 0.4784439206123352, 'ee_speed_mean': 0.19267147779464722}, events: {'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 383.359, 'policy_inference_avg_ms': 2926.4, 'env_step_s': 41.45, 'env_step_avg_ms': 316.4, 'video_write_s': 1.736, 'video_write_avg_ms': 13.2, 'wall_total_s': 426.545, 'it_per_sec': 0.31}, score: 1.0, reason: Completed subtask 'pick_and_place_on_surface' 1/1, harness_episode_id: f486c2df5c01410a935cb9e2afbae182-0
+[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_multiact/gpu_3/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': -7.248022034689892, 'joint_sparc_mean': -13.733329434972779, 'ee_isj': 102066.6567754573, 'joint_isj': 2733992.364236772, 'ee_path_length': 13.33259804336371, 'joint_rmse_mean': 1.4796526282314277, 'ee_speed_max': 5.307059288024902, 'ee_speed_mean': 0.21284879744052887}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1, 'OBJECT_OUT_OF_SCENE': 2, 'OBJECT_MOVED': 2}, instruction_type: default, timing: {'policy_inference_s': 912.823, 'policy_inference_avg_ms': 1014.2, 'env_step_s': 285.852, 'env_step_avg_ms': 317.6, 'video_write_s': 5.756, 'video_write_avg_ms': 6.4, 'wall_total_s': 1204.432, 'it_per_sec': 0.75}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: 45093213f8cc4f0aa7ee76c12c6cf0e5-1
+[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_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json.
+TakeSpatulaOffShelfTask_2 complete: task_name: TakeSpatulaOffShelfTask, run_name: TakeSpatulaOffShelfTask_2, run: 2, env_id: 0, policy: harness, instruction: Take the spatula off the shelf and put it on the table, attributes: ['affordance', 'spatial', 'moderate'], success: False, episode_step: 900, duration: 60.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.454134957161507, 'joint_sparc_mean': -7.978871987219425, 'ee_isj': 39579.5595569532, 'joint_isj': 723354.8472768257, 'ee_path_length': 10.629192452078621, 'joint_rmse_mean': 1.2905017119040916, 'ee_speed_max': 2.4217147827148438, 'ee_speed_mean': 0.1696970909833908}, events: {'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 3, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1}, instruction_type: default, timing: {'policy_inference_s': 1008.524, 'policy_inference_avg_ms': 1120.6, 'env_step_s': 281.044, 'env_step_avg_ms': 312.3, 'video_write_s': 6.518, 'video_write_avg_ms': 7.2, 'wall_total_s': 1296.086, 'it_per_sec': 0.69}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=spatula_01) (step 1/2), harness_episode_id: addf9b823f904c94adeb5cd9e1603f48-2
+[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
+2026-11-03T20:26:22Z [5,211,826ms] [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 : 0.205296 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T20:26:26Z [5,215,958ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T20:26:26Z [5,216,086ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:26:26Z [5,216,087ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:26:26Z [5,216,096ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T20:26:26Z [5,216,096ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:26:26Z [5,216,104ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T20:26:26Z [5,216,111ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T20:26:27Z [5,216,835ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-11-03T20:26:27Z [5,216,836ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-11-03T20:26:27Z [5,217,339ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((635))' not available in the MDL representation.
+2026-11-03T20:26:27Z [5,217,339ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((635))' not available in the MDL representation.
+2026-11-03T20:26:27Z [5,217,345ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T20:26:27Z [5,217,346ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T20:26:28Z [5,217,985ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((686))' not available in the MDL representation.
+2026-11-03T20:26:28Z [5,217,985ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((686))' not available in the MDL representation.
+2026-11-03T20:26:28Z [5,218,587ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-11-03T20:26:28Z [5,218,587ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((577))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,593ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((635))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,593ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((635))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,594ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,594ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((637))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,598ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((686))' not available in the MDL representation.
+2026-11-03T20:26:29Z [5,218,598ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((686))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 6.669280 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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+2026-11-03T21:17:57Z [8,307,553ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T21:18:02Z] GPU 3: RedItemsInBinTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:18:32Z] GPU 3: Starting worker at RedItemsInBinTask/0 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_211836.log
+2026-11-03T21:18:36Z [9ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/02a0e6ab-3809-4aae-7acf1886-7888184d.dmp'
+2026-11-03T21:18:36Z [13ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/2a4c50a1-988e-4424-89d77bb2-6f8b2f76.dmp'
+2026-11-03T21:18:36Z [15ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-03T21:18:36Z [18ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-03T21:18:36Z [20ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-03T21:18:36Z [23ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/84a79b90-3746-4c18-aa0c95b0-65a84fdc.dmp'
+2026-11-03T21:18:36Z [26ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/974313bc-0b1e-4847-e5a74989-4cffe597.dmp'
+2026-11-03T21:18:36Z [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T21:18:36Z [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'
+2026-11-03T21:18:36Z [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'
+2026-11-03T21:18:36Z [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'
+2026-11-03T21:18:36Z [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'
+2026-11-03T21:18:36Z [47ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/4d8c56eb-6e47-44b6-cbd1f490-274ff084.dmp'
+2026-11-03T21:18:36Z [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'
+2026-11-03T21:18:36Z [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/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T21:18:36Z [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/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T21:18:36Z [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/5.0/47f847db-a53b-4fc0-effca6b8-8a3be006.dmp'
+2026-11-03T21:18:40Z [3,841ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:40Z [3,842ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:40Z [3,939ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T21:18:41Z [4,685ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:41Z [4,686ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:41Z [4,687ms] [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: 868629
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T21:18:43Z [6,634ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T21:18:43Z [6,634ms] [Warning] [gpu.foundation.plugin] Detected IOMMU is enabled. Running CUDA peer-to-peer bandwidth and latency validation.
+Unidirectional P2P=Enabled Bandwidth (P2P Writes) Matrix (GB/s)
+   D\D     0      1      2      3      4      5      6      7 
+     0 914.66  16.07  17.13  16.41  18.11  18.28  21.72  22.03 
+     1  18.47 918.58  17.75  18.64  19.15  19.38  22.19  22.39 
+     2  17.44  16.87 919.66  16.67  17.29  17.52  22.01  22.12 
+     3  16.85  18.66  18.63 920.18  18.74  19.47  21.90  22.26 
+     4  22.26  22.05  22.36  22.11 920.37  22.03  18.14  15.09 
+     5  21.99  21.77  21.73  22.54  21.78 920.32  17.30  18.03 
+     6  22.24  21.90  22.00  22.12  22.15  22.27 937.37  17.05 
+     7  22.39  22.01  21.94  22.31  22.25  22.54  18.35 922.49 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  11.35  11.54  11.51  18.40  14.76  20.18  11.58 
+     1  11.52   1.57  11.42  11.26  13.86  11.36  15.46  11.86 
+     2  18.55  16.43   2.81  13.36  12.11  12.51  13.27  12.51 
+     3  11.61  11.82  13.05   1.33  12.54  13.60  12.53  12.70 
+     4  13.28  13.32  15.20  12.98   1.43  14.47  19.31  16.04 
+     5  15.71  13.29  15.93  15.60  14.82   1.36  17.16  13.35 
+     6  12.80  14.40  11.48  11.89  11.34  11.48   1.43  13.03 
+     7  11.53  11.75  11.56  11.35  11.33  11.48  11.39   1.41 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.81   8.16   8.05   7.89   8.65   8.56   8.73   7.83 
+     1   8.06   2.67   7.78   7.75   8.62   8.45  13.01   9.81 
+     2   9.60  10.43   3.23  10.34  12.49  11.68  10.88   9.51 
+     3   9.63   9.11   9.36   3.29  10.92  11.29  12.14   9.43 
+     4  10.45  10.28  10.30  10.64   3.54  12.06  11.90  10.56 
+     5  10.47  10.89  10.62  10.52  17.31   3.87  21.62  11.02 
+     6  11.02  13.63  11.33  10.46  12.36  12.69   3.53  11.00 
+     7   9.51   9.65   9.05   9.46  11.31  11.18  11.32   2.83 
+2026-11-03T21:18:45Z [9,329ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 15.1 GB/s.
+2026-11-03T21:18:45Z [9,329ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 20.2 us.
+2026-11-03T21:18:45Z [9,329ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T21:18:49Z [12,536ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,536ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:49Z [12,620ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,620ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:49Z [12,631ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,631ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:49Z [12,818ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,818ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:49Z [12,824ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,824ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:49Z [12,831ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T21:18:49Z [12,831ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T21:18:50Z [13,736ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T21:18:53Z [17,020ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T21:19:03Z [27,469ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T21:19:05Z [28,830ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T21:19:18Z [41,650ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T21:19:18Z [41,652ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T21:19:18Z [42,106ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T21:19:21Z [45,123ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:19:21Z [45,124ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:19:21Z [45,125ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:19:21Z [45,136ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T21:19:21Z [45,150ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T21:19:21Z [45,150ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T21:19:36Z [59,946ms] [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@ <0x5645947f1260>)
+
+2026-11-03T21:19:36Z [59,947ms] [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@ <0x5645947f1260>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab
+══════════════════════════════════════════════════════════════
+Loaded 9 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[RoboLab] Task `ReorientWhiteMugsTask` already done. Skipping.
+[RoboLab] Task `TakeSpatulaOffShelfTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:19:42Z [65,611ms] [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 : 0.384753 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:19:46Z [70,516ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:19:46Z [70,517ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:47Z [70,556ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:19:47Z [70,556ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:47Z [70,565ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:19:47Z [70,573ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:19:47Z [70,733ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:19:47Z [70,757ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T21:19:52Z [75,572ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,573ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,599ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,599ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,816ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,816ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,826ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:19:52Z [75,826ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,599ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T21:19:55Z [78,924ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,924ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_ff070184/OmniPBR::::OmniPBR::OmniPBR((98))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,925ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,926ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e3036d00/OmniPBR::::OmniPBR::OmniPBR((109))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,927ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,927ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((123))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,928ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+2026-11-03T21:19:55Z [78,928ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_e74cf131/OmniPBR::::OmniPBR::OmniPBR((127))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 13.061419 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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  3%|▎         | 29/900 [02:02<17:31,  1.21s/it]2026-11-03T21:21:59Z [203,161ms] [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_multiact/gpu_3/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: 230, duration: 15.333333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.014359167930939, 'joint_sparc_mean': -7.933740877215683, 'ee_isj': 2487.2703417523853, 'joint_isj': 71031.2259670892, 'ee_path_length': 2.485835067346692, 'joint_rmse_mean': 0.9138166076597055, 'ee_speed_max': 0.982196569442749, 'ee_speed_mean': 0.15504314005374908}, events: {'GRIPPER_HIT_OBJECT': 1, 'TARGET_OBJECT_DROPPED': 3, 'GRIPPER_FULLY_CLOSED': 3}, instruction_type: default, timing: {'policy_inference_s': 507.511, 'policy_inference_avg_ms': 2206.6, 'env_step_s': 59.204, 'env_step_avg_ms': 257.4, 'video_write_s': 2.228, 'video_write_avg_ms': 9.7, 'wall_total_s': 568.942, 'it_per_sec': 0.4}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f2dad175527f409ea45a82a803068030-0
+[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_multiact/gpu_3/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: 281, duration: 18.733333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.560257245112012, 'joint_sparc_mean': -6.862680766588133, 'ee_isj': 3604.523615745607, 'joint_isj': 80315.24943448631, 'ee_path_length': 3.642455815625269, 'joint_rmse_mean': 0.9733112769717361, 'ee_speed_max': 0.8890681862831116, 'ee_speed_mean': 0.1839267611503601}, events: {'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 5, 'GRIPPER_HIT_OBJECT': 1}, instruction_type: default, timing: {'policy_inference_s': 668.458, 'policy_inference_avg_ms': 2378.9, 'env_step_s': 70.941, 'env_step_avg_ms': 252.5, 'video_write_s': 2.393, 'video_write_avg_ms': 8.5, 'wall_total_s': 741.792, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: d9cbf2f3de104699b5dff831907f3ee0-1
+[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_multiact/gpu_3/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: 458, duration: 30.53333333333333, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.805656250491477, 'joint_sparc_mean': -8.94225888781765, 'ee_isj': 1453.8776043337703, 'joint_isj': 51054.77152013776, 'ee_path_length': 3.6158822734168643, 'joint_rmse_mean': 0.8684108117142032, 'ee_speed_max': 0.5289865136146545, 'ee_speed_mean': 0.11536221206188202}, events: {'GRIPPER_HIT_OBJECT': 1, 'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 7}, instruction_type: default, timing: {'policy_inference_s': 744.701, 'policy_inference_avg_ms': 1626.0, 'env_step_s': 118.04, 'env_step_avg_ms': 257.7, 'video_write_s': 4.539, 'video_write_avg_ms': 9.9, 'wall_total_s': 867.279, 'it_per_sec': 0.53}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 134f6eb1cf714cffb9f6de4b869dbead-2
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T21:57:52Z [2,355,580ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.199648 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T21:57:54Z [2,357,761ms] [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.
+2026-11-03T21:57:54Z [2,357,761ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:57:54Z [2,357,770ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T21:57:54Z [2,357,770ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:57:54Z [2,357,778ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T21:57:54Z [2,357,786ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T21:57:54Z [2,357,806ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-03T21:57:56Z [2,360,421ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T21:57:56Z [2,360,422ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T21:57:57Z [2,361,405ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+2026-11-03T21:57:57Z [2,361,405ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((354))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 5.755645 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_multiact/gpu_3/robolab/MustardInLeftBinTask/log_0_env0.json.
+MustardInLeftBinTask_0 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_0, run: 0, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 89, duration: 5.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.164630572724163, 'joint_sparc_mean': -3.611190412227048, 'ee_isj': 434.97569255362475, 'joint_isj': 3792.4790831253736, 'ee_path_length': 0.9048024000004441, 'joint_rmse_mean': 0.7923698376696048, 'ee_speed_max': 0.3329235017299652, 'ee_speed_mean': 0.14577819406986237}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 213.166, 'policy_inference_avg_ms': 2395.1, 'env_step_s': 20.935, 'env_step_avg_ms': 235.2, 'video_write_s': 1.282, 'video_write_avg_ms': 14.4, 'wall_total_s': 235.383, 'it_per_sec': 0.38}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 1fa7a14d2cb9494d81a9204be1eed51e-0
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
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+2026-11-03T22:53:44Z [5,707,824ms] [Error] [robolab.eval.episode] Failed to notify client of episode end
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/robolab/eval/episode.py", line 240, in run_episode
+    client.end_episode(obs, actual_steps=actual_steps, reason=end_reason)
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 134, in end_episode
+    self._query_server({
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/policies/harness_policy/client.py", line 203, in _query_server
+    self._connection.send(self._packer.pack(request))
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 488, in send
+    with self.send_context():
+  File "/data/NTU_slab/draven/uv-python/cpython-3.11.17-linux-x86_64-gnu/lib/python3.11/contextlib.py", line 137, in __enter__
+    return next(self.gen)
+           ^^^^^^^^^^^^^^
+  File "/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/websockets/sync/connection.py", line 1048, in send_context
+    raise self.protocol.close_exc from original_exc
+websockets.exceptions.ConnectionClosedError: received 1011 (internal error) Internal server error. Traceback included in previous frame.; then sent 1011 (internal error) Internal server error. Traceback included in previous frame.
+[2026-11-03T22:53:48Z] GPU 3: MustardInLeftBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T22:54:18Z] GPU 3: Starting worker at MustardInLeftBinTask/1 (resume=--resume)
+[INFO][AppLauncher]: The argument 'renderer' will be used to configure the SimulationApp.
+[INFO][AppLauncher]: Using device: cuda:3
+[INFO][AppLauncher]: Loading experience file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/isaaclab/apps/isaaclab.python.headless.rendering.kit
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+Loading user config located at: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/user.config.json'
+[Info] [carb] Logging to file: /data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/logs/Kit/Isaac-Sim/5.0/kit_20261103_225422.log
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [33ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [46ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/85890ac4-5189-4adc-45743eab-95bb4b50.dmp'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:22Z [53ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/24ef1c3d-a57a-447d-3f18a590-a1fd574d.dmp'
+2026-11-03T22:54:22Z [57ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/1c808b9a-aaa9-4293-eca723ae-0cbd6f77.dmp'
+2026-11-03T22:54:22Z [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'
+2026-11-03T22:54:26Z [3,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:26Z [3,558ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:26Z [3,639ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-03T22:54:27Z [4,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:27Z [4,274ms] [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)
+2026-11-03T22:54:27Z [4,275ms] [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: 885337
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-03T22:54:29Z [6,141ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-03T22:54:29Z [6,141ms] [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 
+     0 911.29  22.12  21.92  22.14  19.90  22.39  21.60  22.16 
+     1  22.23 920.20  22.09  22.06  19.61  22.21  21.98  22.06 
+     2  22.14  21.90 919.12  22.21  20.05  22.30  22.04  22.31 
+     3  22.25  22.07  22.33 922.92  20.04  22.17  21.89  22.41 
+     4  19.41  17.88  19.41  18.32 922.31  17.95  16.99  16.31 
+     5  20.46  19.80  20.06  19.35  18.89 924.18  18.26  18.94 
+     6  19.30  18.35  19.20  18.26  17.62  17.62 920.74  17.74 
+     7  19.06  20.00  19.46  19.70  17.53  18.46  18.86 922.37 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.46  10.33  11.43  12.56  12.20  12.12  13.71  14.52 
+     1  13.09   1.55  10.53  13.21  12.46  15.11  14.31  15.28 
+     2  10.57  10.35   1.38  10.33  14.46  12.66  14.49  14.28 
+     3  10.43  10.70  13.02   1.32  11.36  14.25  12.41  11.45 
+     4  13.90  11.87  11.50  12.06   3.42  11.57  12.26  11.70 
+     5  13.07  12.03  12.03  11.75  12.12   1.37  13.24  13.55 
+     6  12.13  13.69  13.02  11.42  15.80  11.63   1.37  11.58 
+     7  15.13  13.19  12.28  11.35  11.33  13.55  14.41   1.40 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.42   6.85   6.90   6.82   7.64   7.42   7.53   7.54 
+     1   6.95   2.22   6.80   6.60  13.00  14.34  14.67  13.69 
+     2  13.91   8.13   2.36   6.79   7.77   7.53   7.68   7.50 
+     3   6.82   6.65   6.74   2.28   7.65   7.60   7.54   7.45 
+     4   7.53   7.19   7.31   7.28   2.58  10.06  10.01   9.96 
+     5   8.43   8.03   8.32   8.25  10.07   2.89  10.12  11.95 
+     6   7.96   7.75   8.10   7.92   9.52   9.39   2.85   9.41 
+     7   7.86   7.66   7.84   7.77   9.56   9.27   9.50   2.80 
+2026-11-03T22:54:31Z [8,786ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 16.3 GB/s.
+2026-11-03T22:54:31Z [8,786ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 15.8 us.
+2026-11-03T22:54:31Z [8,786ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-03T22:54:34Z [12,106ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:34Z [12,106ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:35Z [12,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:35Z [12,201ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:35Z [12,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:35Z [12,214ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:35Z [12,454ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:35Z [12,454ms] [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)
+2026-11-03T22:54:35Z [12,459ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:35Z [12,459ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:35Z [12,465ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-03T22:54:35Z [12,465ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-03T22:54:36Z [13,597ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-03T22:54:40Z [17,268ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-03T22:54:49Z [27,058ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-03T22:54:51Z [28,324ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-03T22:55:03Z [40,995ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-03T22:55:03Z [40,998ms] [Warning] [usdrt.population.plugin] using high frequency span is disabled
+2026-11-03T22:55:04Z [41,470ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [carb::dictionary::ISerializer v1.1] (plugin: carb.dictionary.serializer-json.plugin), by client: carb.scenerenderer-rtx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-11-03T22:55:07Z [44,677ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:55:07Z [44,678ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:55:07Z [44,678ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:55:07Z [44,697ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-03T22:55:07Z [44,714ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-03T22:55:07Z [44,714ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 5 task(s): ['SmallPumpkinInBinTask', 'ReorientWhiteMugsTask', 'TakeSpatulaOffShelfTask', 'RedItemsInBinTask', 'MustardInLeftBinTask']
+2026-11-03T22:55:22Z [60,047ms] [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@ <0x559dc6da8ba0>)
+
+2026-11-03T22:55:22Z [60,048ms] [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@ <0x559dc6da8ba0>)
+
+══════════════════════════════════════════════════════════════
+  RoboLab Experiment
+──────────────────────────────────────────────────────────────
+  Filter         : tasks: SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Environments   : SmallPumpkinInBinTask, ReorientWhiteMugsTask, TakeSpatulaOffShelfTask, RedItemsInBinTask, MustardInLeftBinTask
+  Num Tasks      : 5
+  Num Envs       : 1
+  Episodes       : 3 per task
+  Policy         : harness
+  Instr. Type    : default
+  Output         : /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab
+══════════════════════════════════════════════════════════════
+Loaded 13 existing results from /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab.
+[RoboLab] Task `SmallPumpkinInBinTask` already done. Skipping.
+[RoboLab] Task `ReorientWhiteMugsTask` already done. Skipping.
+[RoboLab] Task `TakeSpatulaOffShelfTask` already done. Skipping.
+[RoboLab] Task `RedItemsInBinTask` already done. Skipping.
+[INFO] Subtask progress checking ON
+[INFO] Image observations recording OFF
+[INFO]: Parsing configuration from: <class 'robolab.core.environments.config.generate_task_env_cfg.<locals>.GeneratedTaskEnvCfg'>
+Setting seed: 0
+2026-11-03T22:55:28Z [65,615ms] [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 : 0.429261 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 1
+	Environment spacing   : 10.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+2026-11-03T22:55:33Z [70,884ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
+2026-11-03T22:55:33Z [70,885ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-03T22:55:33Z [70,954ms] [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.
+2026-11-03T22:55:33Z [70,954ms] [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.
+2026-11-03T22:55:33Z [70,963ms] [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.
+2026-11-03T22:55:33Z [70,970ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-03T22:55:34Z [71,125ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:55:34Z [71,148ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-03T22:55:41Z [78,719ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T22:55:41Z [78,719ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T22:55:44Z [81,263ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-03T22:55:44Z [81,560ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-03T22:55:44Z [81,561ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_272eb567/OmniPBR::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 15.610649 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] Task `MustardInLeftBinTask` run `0` already done. Skipping.
+[RoboLab] Running MustardInLeftBinTask_1: 'Put the mustard in the left bin' (run 1, 1 envs)
+
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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/robolab/MustardInLeftBinTask/log_1_env0.json.
+MustardInLeftBinTask_1 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_1, run: 1, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 81, duration: 5.4, dt: 0.06666666666666667, metrics: {'ee_sparc': -3.7033357137264664, 'joint_sparc_mean': -3.2812214661696935, 'ee_isj': 396.4937606060886, 'joint_isj': 3610.6812038884327, 'ee_path_length': 0.8253182653726796, 'joint_rmse_mean': 0.7814800267524242, 'ee_speed_max': 0.4226330518722534, 'ee_speed_mean': 0.14577779173851013}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 182.643, 'policy_inference_avg_ms': 2254.9, 'env_step_s': 17.701, 'env_step_avg_ms': 218.5, 'video_write_s': 1.248, 'video_write_avg_ms': 15.4, 'wall_total_s': 201.592, 'it_per_sec': 0.4}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 7c76597076cf4249b00569b323fd5ac2-1
+[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_multiact/gpu_3/robolab/MustardInLeftBinTask/log_2_env0.json.
+MustardInLeftBinTask_2 complete: task_name: MustardInLeftBinTask, run_name: MustardInLeftBinTask_2, run: 2, env_id: 0, policy: harness, instruction: Put the mustard in the left bin, attributes: ['spatial', 'simple'], success: True, episode_step: 73, duration: 4.866666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.180050241214261, 'joint_sparc_mean': -3.108337525457162, 'ee_isj': 406.65598680893095, 'joint_isj': 3919.742620160913, 'ee_path_length': 0.8014957208030702, 'joint_rmse_mean': 0.7903925794934732, 'ee_speed_max': 0.463990181684494, 'ee_speed_mean': 0.15692147612571716}, events: {'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 169.066, 'policy_inference_avg_ms': 2316.0, 'env_step_s': 15.6, 'env_step_avg_ms': 213.7, 'video_write_s': 1.169, 'video_write_avg_ms': 16.0, 'wall_total_s': 185.835, 'it_per_sec': 0.39}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: f4b6667ed7584c46a102376f3f29f985-2
+------------------------------------------------------------------- EXPERIMENT SUMMARY --------------------------------------------------------------------
+Task Name               Success    %     95% CI         Score(total) Score(fail) Time(s) EE SPARC PathLen(m) Speed(cm/s) it/s Walltime(m)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+TOTAL (5 tasks)         12/15    80.0%   [54.4-92.7]    0.800        0.000       12.75   -5.56    3.96       15.6        0.41 11.9       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
+MustardInLeftBinTask    3/3      100.0%  [39.8-99.4]    1.000        -           5.40    -4.02    0.84       14.9        0.39 3.5        
+RedItemsInBinTask       3/3      100.0%  [39.8-99.4]    1.000        -           21.53   -6.46    3.25       15.1        0.44 12.1       
+ReorientWhiteMugsTask   2/3      66.7%   [19.4-93.2]    0.667        0.000       5.93    -5.10    4.80       15.7        0.36 13.1       
+SmallPumpkinInBinTask   3/3      100.0%  [39.8-99.4]    1.000        -           17.20   -5.91    2.30       13.3        0.30 14.5       
+TakeSpatulaOffShelfTask 1/3      33.3%   [6.8-80.6]     0.333        0.000       8.73    -6.33    8.59       19.2        0.58 16.3       
+-----------------------------------------------------------------------------------------------------------------------------------------------------------
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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_multiact/gpu_3/robolab/RedItemsInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/RedItemsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e77621c8f6ce1b396916cbbc5616d39fe7b4f329
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/RedItemsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/ReorientWhiteMugsTask/log_2_env0.json
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"score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'bowl' nudged 0.176m", "score": 0.0}, {"step": 211, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.187m", "score": 0.0}, {"step": 212, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_mug' nudged 0.129m", "score": 0.0}, {"step": 213, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.190m", "score": 0.0}, {"step": 213, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'measuring_cup' nudged 0.238m", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.167m", "score": 0.0}, {"step": 230, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'upright_white_mug' nudged 0.241m", "score": 0.0}, {"step": 253, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_mug'", "score": 0.0}, {"step": 253, "code": 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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_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a524b30e1f69391fabcc9f4a9d1c7fe5ce121e
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/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": 369, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.056m", "score": 0.0}, {"step": 45, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 81, "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": 84, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 84, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 87, "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": 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=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 97, "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": 121, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 121, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.069m", "score": 0.0}, {"step": 156, "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": 160, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.0}, {"step": 160, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 173, "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": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 210, "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": 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": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 274, "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": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 369, "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_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_1_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e95e3efbf46cb2cab231b0c093bab0970c9103f0
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/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": 265, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.054m", "score": 0.0}, {"step": 55, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_01'", "score": 0.0}, {"step": 71, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 90, "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": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 119, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 119, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 144, "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": 161, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 161, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=pumpkinsmall). regressing to step 0 for pumpkinsmall.", "score": 0.0}, {"step": 187, "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": 265, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 265, "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_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_2_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e729f20d3813b380ca5451e69c6efdf8084f2a63
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/SmallPumpkinInBinTask/log_2_env0.json
@@ -0,0 +1 @@
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_0_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_0_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_1_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_1_env0.json
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diff --git a/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json b/harness_robolab_exploration/embo_multiact/gpu_3/robolab/TakeSpatulaOffShelfTask/log_2_env0.json
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+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 54256) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 2fba28aef09a4b66bb952c515ccc9627-0 (codex/gpt-6-astra) ended: wall=1282.751s harness=1013.572s tokens=3282543 usage_complete=False decisions=47 executed_steps=369 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_multiact/gpu_3/harness/20261103T144719.538532Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e3ea1abbcfc64fbf942d38a254011e81-1 (codex/gpt-6-astra) ended: wall=809.093s harness=610.103s tokens=2174196 usage_complete=False decisions=34 executed_steps=265 steps_complete=True network_wait=21.071143567562103 rate_limit_wait=0 rate_limit_count=0 excluded=21.071143567562103 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T144719.538532Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 78e92f6ca14f4bbeaa82e75f227b47b1-2 (codex/gpt-6-astra) ended: wall=496.466s harness=391.894s tokens=1377631 usage_complete=True decisions=18 executed_steps=140 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_multiact/gpu_3/harness/20261103T144719.538532Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f71364e702a4408282112f0f3c4f4fd8-0 (codex/gpt-6-astra) ended: wall=326.358s harness=290.829s tokens=1149500 usage_complete=True decisions=14 executed_steps=105 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_multiact/gpu_3/harness/20261103T144719.538532Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode e80c1aaab5a745bf9909ed53c95c5fe7-1 (codex/gpt-6-astra) execution_error: wall=3868.308s harness=3628.642s tokens=6180531 usage_complete=False decisions=89 executed_steps=712 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T144719.538532Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T16:44:51Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T16:45:21Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T164523.795949Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T164523.795949Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8003
+INFO:websockets.server:server listening on 127.0.0.1:8003
+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', 42060) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 6a2e42c32bb74dda93405368437413cc-1 (codex/gpt-6-astra) execution_error: wall=3653.727s harness=3500.794s tokens=5520835 usage_complete=False decisions=58 executed_steps=464 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T164523.795949Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T17:47:43Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 2/10 in 60s
+[2026-11-03T17:48:43Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T174846.162207Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T174846.162207Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8003
+INFO:websockets.server:server listening on 127.0.0.1:8003
+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', 44618) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 4fc31a1171ad4699802ead8677097349-1 (codex/gpt-6-astra) execution_error: wall=4010.877s harness=3759.079s tokens=5779837 usage_complete=False decisions=99 executed_steps=792 steps_complete=False network_wait=23.064113348722458 rate_limit_wait=0 rate_limit_count=0 excluded=23.064113348722458 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T174846.162207Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T18:57:26Z] GPU 3: ReorientWhiteMugsTask/1: client exited (status=0) with incomplete results; retry 3/10 in 120s
+[2026-11-03T18:59:26Z] GPU 3: Starting worker at ReorientWhiteMugsTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8003
+INFO:websockets.server:server listening on 127.0.0.1:8003
+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', 49980) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 584ed8fcdd634177a910b149c3d9cb85-1 (codex/gpt-6-astra) ended: wall=315.406s harness=290.040s tokens=749313 usage_complete=False decisions=10 executed_steps=73 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_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f13da6b5a33845bb990da59e257afeb8-2 (codex/gpt-6-astra) ended: wall=1524.453s harness=1233.351s tokens=4299915 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=194.92821542918682 rate_limit_wait=0 rate_limit_count=0 excluded=194.92821542918682 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f486c2df5c01410a935cb9e2afbae182-0 (codex/gpt-6-astra) ended: wall=424.483s harness=377.034s tokens=1322781 usage_complete=True decisions=17 executed_steps=131 steps_complete=True network_wait=2.1606975570321083 rate_limit_wait=0 rate_limit_count=0 excluded=2.1606975570321083 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 45093213f8cc4f0aa7ee76c12c6cf0e5-1 (codex/gpt-6-astra) ended: wall=1204.965s harness=886.675s tokens=2732860 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_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode addf9b823f904c94adeb5cd9e1603f48-2 (codex/gpt-6-astra) ended: wall=1275.252s harness=959.976s tokens=3482346 usage_complete=False decisions=113 executed_steps=900 steps_complete=True network_wait=31.358678124845028 rate_limit_wait=0 rate_limit_count=0 excluded=21.632074140012264 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7b0900513dc44c0b88333dec6dafd63d-0 (codex/gpt-6-astra) execution_error: wall=3087.031s harness=2961.943s tokens=3541633 usage_complete=False decisions=56 executed_steps=448 steps_complete=False network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T185928.426541Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T21:18:02Z] GPU 3: RedItemsInBinTask/0: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T21:18:32Z] GPU 3: Starting worker at RedItemsInBinTask/0 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T211834.343841Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8003
+INFO:websockets.server:server listening on 127.0.0.1:8003
+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', 45936) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f2dad175527f409ea45a82a803068030-0 (codex/gpt-6-astra) ended: wall=569.056s harness=500.352s tokens=1810899 usage_complete=False decisions=29 executed_steps=230 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_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode d9cbf2f3de104699b5dff831907f3ee0-1 (codex/gpt-6-astra) ended: wall=741.942s harness=659.788s tokens=2414625 usage_complete=False decisions=36 executed_steps=281 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_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 134f6eb1cf714cffb9f6de4b869dbead-2 (codex/gpt-6-astra) ended: wall=867.522s harness=729.958s tokens=2304441 usage_complete=False decisions=58 executed_steps=458 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_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1fa7a14d2cb9494d81a9204be1eed51e-0 (codex/gpt-6-astra) ended: wall=235.432s harness=210.240s tokens=855991 usage_complete=True decisions=12 executed_steps=89 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_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 1ded867e548a46eba112e9f9e427aede-1 (codex/gpt-6-astra) execution_error: wall=3070.623s harness=2951.081s tokens=4929714 usage_complete=False decisions=56 executed_steps=448 steps_complete=False network_wait=14.409449614584446 rate_limit_wait=0 rate_limit_count=0 excluded=14.409449614584446 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T211834.343841Z_eval.episodes.jsonl
+ERROR:websockets.server:connection handler failed
+Traceback (most recent call last):
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/site-packages/websockets/asyncio/server.py", line 376, in conn_handler
+    await self.handler(connection)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 88, in _handler
+    await self._serve_connection(websocket, managed=managed)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 124, in _serve_connection
+    response = (await self._infer_harness(websocket, request) if managed
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/websocket_server.py", line 105, in _infer_harness
+    return worker.result()
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/asyncio/threads.py", line 25, in to_thread
+    return await loop.run_in_executor(None, func_call)
+  File "/data/NTU_slab/draven/anaconda3/envs/codebase/lib/python3.10/concurrent/futures/thread.py", line 58, in run
+    result = self.fn(*self.args, **self.kwargs)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 149, in infer
+    command = self._act(request)
+  File "/data/NTU_slab/draven/proj/codebase/src/evaluation/robolab_bench/harness_policy.py", line 241, in _act
+    return self.backend.act(request["observation"], control_step=request["control_step"])
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 471, in act
+    return self._act_execute(observation, control_step=control_step, deadline=deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 600, in _act_execute
+    event = self._next_event(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1122, in _next_event
+    return self._queue.popleft() if self._queue else self._read(deadline)
+  File "/data/NTU_slab/draven/proj/codebase/src/agent/client.py", line 1129, in _read
+    raise TimeoutError("Timed out waiting for Codex")
+TimeoutError: Timed out waiting for Codex
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
+[2026-11-03T22:53:48Z] GPU 3: MustardInLeftBinTask/1: client exited (status=0) with incomplete results; retry 1/10 in 30s
+[2026-11-03T22:54:18Z] GPU 3: Starting worker at MustardInLeftBinTask/1 (resume=--resume)
+INFO:root:Codex source: local; executable: /data/NTU_slab/draven/proj/codex-main/codex-rs/target/debug/codex
+INFO:root:Harness action timeout: 1800 seconds; Codex stream idle timeout: 600 seconds
+INFO:root:Backend: codex; model: gpt-6-astra; effort: xhigh; decision log: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T225420.653049Z_eval.jsonl
+INFO:root:Episode statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T225420.653049Z_eval.episodes.jsonl
+INFO:root:Plan before execution: False
+INFO:root:Multi-action execution: True
+INFO:root:GPT action format: eef_absolute
+INFO:root:Manipulation notes included: True; selected file: note.md
+INFO:root:Adaptive action chunk: False
+INFO:root:Configured fixed action chunk size: 8 frames
+INFO:root:Async inference: False; reserved tail steps: 5
+INFO:root:Async prompt included: False
+INFO:root:VLA as reference: False
+INFO:root:Shared memory: disabled; mode: text
+INFO:root:Serving harness on ws://127.0.0.1:8003
+INFO:websockets.server:server listening on 127.0.0.1:8003
+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', 42464) opened
+INFO:src.evaluation.robolab_bench.episode_stats:Episode 7c76597076cf4249b00569b323fd5ac2-1 (codex/gpt-6-astra) ended: wall=201.636s harness=180.208s tokens=719057 usage_complete=True decisions=11 executed_steps=81 steps_complete=True network_wait=0 rate_limit_wait=0 rate_limit_count=0 excluded=0.0 timing=complete; statistics: /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_multiact/gpu_3/harness/20261103T225420.653049Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.episode_stats:Episode f4b6667ed7584c46a102376f3f29f985-2 (codex/gpt-6-astra) ended: wall=185.888s harness=166.850s tokens=911318 usage_complete=True decisions=10 executed_steps=73 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_multiact/gpu_3/harness/20261103T225420.653049Z_eval.episodes.jsonl
+INFO:src.evaluation.robolab_bench.websocket_server:Connection from ('127.0.0.1', 42464) closed
+INFO:websockets.server:server closing
+INFO:websockets.server:server closed
+INFO:root:Harness server stopped
diff --git a/harness_robolab_exploration/embo_multiact/progress.log b/harness_robolab_exploration/embo_multiact/progress.log
new file mode 100644
index 0000000000000000000000000000000000000000..1d1ef47aca21129c23fbd03c8dc0a269c62285b1
--- /dev/null
+++ b/harness_robolab_exploration/embo_multiact/progress.log
@@ -0,0 +1,63 @@
+[Batch] Committed trajectories only; means exclude interrupted retries. Corrected times require complete network and rate-limit coverage; raw times include waiting. Both exclude wrap-up; tokens require complete usage.
+[Batch] Initial | Tasks 0/20 | Episodes 0/60 | Success N/A | Mean Harness N/A | Mean Wall N/A | Mean Tokens N/A | Mean Raw Harness N/A | Mean Raw Wall N/A
+[Batch] GPU 1 finished FruitsOnionToPlateTask/0: SUCCESS | Tasks 0/20 | Episodes 1/60 | Success 100.00% (1/1) | Mean Harness 297.289s | Mean Wall 377.596s | Mean Tokens 1,213,644.0 | Mean Raw Harness 297.289s | Mean Raw Wall 377.596s
+[Batch] GPU 2 finished MarkerInMugTask/0: SUCCESS | Tasks 0/20 | Episodes 2/60 | Success 100.00% (2/2) | Mean Harness 451.639s | Mean Wall 537.518s | Mean Tokens 1,213,644.0 (1/2 complete) | Mean Raw Harness 451.639s | Mean Raw Wall 537.518s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/1: SUCCESS | Tasks 0/20 | Episodes 3/60 | Success 100.00% (3/3) | Mean Harness 428.185s | Mean Wall 519.615s | Mean Tokens 1,213,644.0 (1/3 complete) | Mean Raw Harness 428.185s | Mean Raw Wall 519.615s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/0: SUCCESS | Tasks 0/20 | Episodes 4/60 | Success 100.00% (4/4) | Mean Harness 534.576s | Mean Wall 650.884s | Mean Tokens 1,213,644.0 (1/4 complete) | Mean Raw Harness 534.576s | Mean Raw Wall 650.884s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/0: SUCCESS | Tasks 0/20 | Episodes 5/60 | Success 100.00% (5/5) | Mean Harness 630.375s | Mean Wall 777.257s | Mean Tokens 1,213,644.0 (1/5 complete) | Mean Raw Harness 630.375s | Mean Raw Wall 777.257s
+[Batch] GPU 2 finished MarkerInMugTask/1: SUCCESS | Tasks 0/20 | Episodes 6/60 | Success 100.00% (6/6) | Mean Harness 655.664s | Mean Wall 800.351s | Mean Tokens 1,213,644.0 (1/6 complete) | Mean Raw Harness 655.664s | Mean Raw Wall 800.351s
+[Batch] GPU 1 finished FruitsOnionToPlateTask/2: SUCCESS | Tasks 1/20 | Episodes 7/60 | Success 100.00% (7/7) | Mean Harness 648.857s | Mean Wall 794.508s | Mean Tokens 1,213,644.0 (1/7 complete) | Mean Raw Harness 648.857s | Mean Raw Wall 794.508s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/1: SUCCESS | Tasks 1/20 | Episodes 8/60 | Success 100.00% (8/8) | Mean Harness 644.013s | Mean Wall 796.331s | Mean Tokens 1,213,644.0 (1/8 complete) | Mean Raw Harness 646.647s | Mean Raw Wall 798.965s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/1: SUCCESS | Tasks 1/20 | Episodes 9/60 | Success 100.00% (9/9) | Mean Harness 695.631s | Mean Wall 853.794s | Mean Tokens 1,213,644.0 (1/9 complete) | Mean Raw Harness 700.156s | Mean Raw Wall 858.319s
+[Batch] GPU 3 finished SmallPumpkinInBinTask/2: SUCCESS | Tasks 2/20 | Episodes 10/60 | Success 100.00% (10/10) | Mean Harness 665.257s | Mean Wall 818.061s | Mean Tokens 1,295,637.5 (2/10 complete) | Mean Raw Harness 669.329s | Mean Raw Wall 822.134s
+[Batch] GPU 2 finished MarkerInMugTask/2: SUCCESS | Tasks 3/20 | Episodes 11/60 | Success 100.00% (11/11) | Mean Harness 680.208s | Mean Wall 833.435s | Mean Tokens 1,295,637.5 (2/11 complete) | Mean Raw Harness 685.069s | Mean Raw Wall 838.296s
+[Batch] GPU 3 finished ReorientWhiteMugsTask/0: SUCCESS | Tasks 3/20 | Episodes 12/60 | Success 100.00% (12/12) | Mean Harness 647.760s | Mean Wall 791.179s | Mean Tokens 1,246,925.0 (3/12 complete) | Mean Raw Harness 652.216s | Mean Raw Wall 795.635s
+[Batch] GPU 2 finished SpoonInMugTask/0: SUCCESS | Tasks 3/20 | Episodes 13/60 | Success 100.00% (13/13) | Mean Harness 628.387s | Mean Wall 766.551s | Mean Tokens 1,297,856.0 (4/13 complete) | Mean Raw Harness 632.500s | Mean Raw Wall 770.664s
+[Batch] GPU 2 finished SpoonInMugTask/1: SUCCESS | Tasks 3/20 | Episodes 14/60 | Success 100.00% (14/14) | Mean Harness 618.270s | Mean Wall 752.581s | Mean Tokens 1,364,251.2 (5/14 complete) | Mean Raw Harness 622.090s | Mean Raw Wall 756.401s
+[Batch] GPU 2 finished SpoonInMugTask/2: FAILURE | Tasks 4/20 | Episodes 15/60 | Success 93.33% (14/15) | Mean Harness 648.172s | Mean Wall 806.055s | Mean Tokens 1,364,251.2 (5/15 complete) | Mean Raw Harness 651.737s | Mean Raw Wall 809.620s
+[Batch] GPU 2 finished ClampInRightBinTask/0: SUCCESS | Tasks 4/20 | Episodes 16/60 | Success 93.75% (15/16) | Mean Harness 636.130s | Mean Wall 789.332s | Mean Tokens 1,364,251.2 (5/16 complete) | Mean Raw Harness 639.473s | Mean Raw Wall 792.674s
+[Batch] GPU 1 finished BlockStackingSpecifiedOrderTask/0: SUCCESS | Tasks 4/20 | Episodes 17/60 | Success 94.12% (16/17) | Mean Harness 653.919s | Mean Wall 805.303s | Mean Tokens 1,364,251.2 (5/17 complete) | Mean Raw Harness 657.064s | Mean Raw Wall 808.449s
+[Batch] GPU 1 finished BlockStackingSpecifiedOrderTask/1: SUCCESS | Tasks 4/20 | Episodes 18/60 | Success 94.44% (17/18) | Mean Harness 654.946s | Mean Wall 803.104s | Mean Tokens 1,364,251.2 (5/18 complete) | Mean Raw Harness 657.917s | Mean Raw Wall 806.075s
+[Batch] GPU 2 finished ClampInRightBinTask/1: SUCCESS | Tasks 4/20 | Episodes 19/60 | Success 94.74% (18/19) | Mean Harness 650.814s | Mean Wall 795.651s | Mean Tokens 1,437,183.8 (6/19 complete) | Mean Raw Harness 653.629s | Mean Raw Wall 798.465s
+[Batch] GPU 2 finished ClampInRightBinTask/2: SUCCESS | Tasks 5/20 | Episodes 20/60 | Success 95.00% (19/20) | Mean Harness 645.840s | Mean Wall 787.852s | Mean Tokens 1,437,183.8 (6/20 complete) | Mean Raw Harness 648.514s | Mean Raw Wall 790.525s
+[Batch] GPU 2 finished FoodPacking1BoxesTask/0: SUCCESS | Tasks 5/20 | Episodes 21/60 | Success 95.24% (20/21) | Mean Harness 630.760s | Mean Wall 767.708s | Mean Tokens 1,397,505.4 (7/21 complete) | Mean Raw Harness 633.307s | Mean Raw Wall 770.254s
+[Batch] GPU 3 finished ReorientWhiteMugsTask/1: SUCCESS | Tasks 5/20 | Episodes 22/60 | Success 95.45% (21/22) | Mean Harness 615.273s | Mean Wall 747.148s | Mean Tokens 1,397,505.4 (7/22 complete) | Mean Raw Harness 617.704s | Mean Raw Wall 749.579s
+[Batch] GPU 1 finished BlockStackingSpecifiedOrderTask/2: SUCCESS | Tasks 6/20 | Episodes 23/60 | Success 95.65% (22/23) | Mean Harness 613.982s | Mean Wall 744.539s | Mean Tokens 1,397,505.4 (7/23 complete) | Mean Raw Harness 621.257s | Mean Raw Wall 751.815s
+[Batch] GPU 3 finished ReorientWhiteMugsTask/2: FAILURE | Tasks 7/20 | Episodes 24/60 | Success 91.67% (22/24) | Mean Harness 639.789s | Mean Wall 777.036s | Mean Tokens 1,397,505.4 (7/24 complete) | Mean Raw Harness 654.883s | Mean Raw Wall 792.130s
+[Batch] GPU 3 finished TakeSpatulaOffShelfTask/0: SUCCESS | Tasks 7/20 | Episodes 25/60 | Success 92.00% (23/25) | Mean Harness 629.279s | Mean Wall 762.934s | Mean Tokens 1,388,164.9 (8/25 complete) | Mean Raw Harness 643.855s | Mean Raw Wall 777.510s
+[Batch] GPU 0 finished PlasticBottlesInSquarePailTask/2: SUCCESS | Tasks 8/20 | Episodes 26/60 | Success 92.31% (24/26) | Mean Harness 628.137s | Mean Wall 761.380s | Mean Tokens 1,388,164.9 (8/26 complete) | Mean Raw Harness 642.153s | Mean Raw Wall 775.396s
+[Batch] GPU 0 finished OneBottleInSquarePailTask/0: SUCCESS | Tasks 8/20 | Episodes 27/60 | Success 92.59% (25/27) | Mean Harness 623.524s | Mean Wall 755.422s | Mean Tokens 1,388,164.9 (8/27 complete) | Mean Raw Harness 637.021s | Mean Raw Wall 768.919s
+[Batch] GPU 3 finished TakeSpatulaOffShelfTask/1: FAILURE | Tasks 8/20 | Episodes 28/60 | Success 89.29% (25/28) | Mean Harness 632.922s | Mean Wall 771.477s | Mean Tokens 1,388,164.9 (8/28 complete) | Mean Raw Harness 645.937s | Mean Raw Wall 784.492s
+[Batch] GPU 2 finished FoodPacking1BoxesTask/1: SUCCESS | Tasks 8/20 | Episodes 29/60 | Success 89.66% (26/29) | Mean Harness 631.897s | Mean Wall 768.676s | Mean Tokens 1,388,164.9 (8/29 complete) | Mean Raw Harness 648.227s | Mean Raw Wall 785.006s
+[Batch] GPU 0 finished OneBottleInSquarePailTask/1: SUCCESS | Tasks 8/20 | Episodes 30/60 | Success 90.00% (27/30) | Mean Harness 628.935s | Mean Wall 763.799s | Mean Tokens 1,479,993.7 (9/30 complete) | Mean Raw Harness 646.247s | Mean Raw Wall 781.111s
+[Batch] GPU 0 finished OneBottleInSquarePailTask/2: SUCCESS | Tasks 9/20 | Episodes 31/60 | Success 90.32% (28/31) | Mean Harness 624.751s | Mean Wall 757.296s | Mean Tokens 1,491,224.7 (10/31 complete) | Mean Raw Harness 641.663s | Mean Raw Wall 774.209s
+[Batch] GPU 3 finished TakeSpatulaOffShelfTask/2: FAILURE | Tasks 10/20 | Episodes 32/60 | Success 87.50% (28/32) | Mean Harness 635.227s | Mean Wall 773.482s | Mean Tokens 1,491,224.7 (10/32 complete) | Mean Raw Harness 652.287s | Mean Raw Wall 790.542s
+[Batch] GPU 1 finished ReorientRedMugTask/0: SUCCESS | Tasks 10/20 | Episodes 33/60 | Success 87.88% (29/33) | Mean Harness 633.924s | Mean Wall 770.627s | Mean Tokens 1,491,224.7 (10/33 complete) | Mean Raw Harness 651.404s | Mean Raw Wall 788.107s
+[Batch] GPU 0 finished BananasInBinThreeTotalTask/0: SUCCESS | Tasks 10/20 | Episodes 34/60 | Success 88.24% (30/34) | Mean Harness 639.982s | Mean Wall 776.954s | Mean Tokens 1,491,224.7 (10/34 complete) | Mean Raw Harness 656.948s | Mean Raw Wall 793.920s
+[Batch] GPU 0 finished BananasInBinThreeTotalTask/1: SUCCESS | Tasks 10/20 | Episodes 35/60 | Success 88.57% (31/35) | Mean Harness 635.885s | Mean Wall 770.489s | Mean Tokens 1,491,224.7 (10/35 complete) | Mean Raw Harness 652.366s | Mean Raw Wall 786.970s
+[Batch] GPU 0 finished BananasInBinThreeTotalTask/2: SUCCESS | Tasks 11/20 | Episodes 36/60 | Success 88.89% (32/36) | Mean Harness 625.512s | Mean Wall 757.285s | Mean Tokens 1,491,224.7 (10/36 complete) | Mean Raw Harness 641.535s | Mean Raw Wall 773.308s
+[Batch] GPU 0 finished BowlStackingRightOnLeftTask/0: SUCCESS | Tasks 11/20 | Episodes 37/60 | Success 89.19% (33/37) | Mean Harness 619.709s | Mean Wall 748.861s | Mean Tokens 1,491,224.7 (10/37 complete) | Mean Raw Harness 635.299s | Mean Raw Wall 764.451s
+[Batch] GPU 0 finished BowlStackingRightOnLeftTask/1: SUCCESS | Tasks 11/20 | Episodes 38/60 | Success 89.47% (34/38) | Mean Harness 614.693s | Mean Wall 741.284s | Mean Tokens 1,488,352.7 (11/38 complete) | Mean Raw Harness 629.873s | Mean Raw Wall 756.463s
+[Batch] GPU 0 finished BowlStackingRightOnLeftTask/2: FAILURE | Tasks 12/20 | Episodes 39/60 | Success 87.18% (34/39) | Mean Harness 623.078s | Mean Wall 748.246s | Mean Tokens 1,488,352.7 (11/39 complete) | Mean Raw Harness 637.869s | Mean Raw Wall 763.037s
+[Batch] GPU 3 finished RedItemsInBinTask/0: SUCCESS | Tasks 12/20 | Episodes 40/60 | Success 87.50% (35/40) | Mean Harness 620.010s | Mean Wall 743.767s | Mean Tokens 1,488,352.7 (11/40 complete) | Mean Raw Harness 634.431s | Mean Raw Wall 758.187s
+[Batch] GPU 2 finished FoodPacking1BoxesTask/2: FAILURE | Tasks 13/20 | Episodes 41/60 | Success 85.37% (35/41) | Mean Harness 642.962s | Mean Wall 769.359s | Mean Tokens 1,488,352.7 (11/41 complete) | Mean Raw Harness 657.031s | Mean Raw Wall 783.428s
+[Batch] GPU 3 finished RedItemsInBinTask/1: SUCCESS | Tasks 13/20 | Episodes 42/60 | Success 85.71% (36/42) | Mean Harness 643.362s | Mean Wall 768.706s | Mean Tokens 1,488,352.7 (11/42 complete) | Mean Raw Harness 657.096s | Mean Raw Wall 782.440s
+[Batch] GPU 1 finished ReorientRedMugTask/1: SUCCESS | Tasks 13/20 | Episodes 43/60 | Success 86.05% (37/43) | Mean Harness 658.516s | Mean Wall 784.039s | Mean Tokens 1,488,352.7 (11/43 complete) | Mean Raw Harness 671.931s | Mean Raw Wall 797.454s
+[Batch] GPU 3 finished RedItemsInBinTask/2: SUCCESS | Tasks 14/20 | Episodes 44/60 | Success 86.36% (38/44) | Mean Harness 660.140s | Mean Wall 785.937s | Mean Tokens 1,488,352.7 (11/44 complete) | Mean Raw Harness 673.250s | Mean Raw Wall 799.046s
+[Batch] GPU 1 finished ReorientRedMugTask/2: SUCCESS | Tasks 15/20 | Episodes 45/60 | Success 86.67% (39/45) | Mean Harness 654.555s | Mean Wall 778.723s | Mean Tokens 1,506,956.2 (12/45 complete) | Mean Raw Harness 667.373s | Mean Raw Wall 791.541s
+[Batch] GPU 3 finished MustardInLeftBinTask/0: SUCCESS | Tasks 15/20 | Episodes 46/60 | Success 86.96% (40/46) | Mean Harness 644.896s | Mean Wall 766.912s | Mean Tokens 1,456,881.9 (13/46 complete) | Mean Raw Harness 657.436s | Mean Raw Wall 779.452s
+[Batch] GPU 1 finished BananaThenRubiksCubeTask/0: SUCCESS | Tasks 15/20 | Episodes 47/60 | Success 87.23% (41/47) | Mean Harness 644.891s | Mean Wall 765.930s | Mean Tokens 1,456,881.9 (13/47 complete) | Mean Raw Harness 657.375s | Mean Raw Wall 778.414s
+[Batch] GPU 1 finished BananaThenRubiksCubeTask/1: SUCCESS | Tasks 15/20 | Episodes 48/60 | Success 87.50% (42/48) | Mean Harness 649.705s | Mean Wall 770.248s | Mean Tokens 1,456,881.9 (13/48 complete) | Mean Raw Harness 662.338s | Mean Raw Wall 782.881s
+[Batch] GPU 1 finished BananaThenRubiksCubeTask/2: SUCCESS | Tasks 16/20 | Episodes 49/60 | Success 87.76% (43/49) | Mean Harness 652.572s | Mean Wall 772.523s | Mean Tokens 1,456,881.9 (13/49 complete) | Mean Raw Harness 664.948s | Mean Raw Wall 784.898s
+[Batch] GPU 1 finished FoodPacking1CansTask/0: SUCCESS | Tasks 16/20 | Episodes 50/60 | Success 88.00% (44/50) | Mean Harness 643.514s | Mean Wall 761.823s | Mean Tokens 1,407,838.5 (14/50 complete) | Mean Raw Harness 655.642s | Mean Raw Wall 773.951s
+[Batch] GPU 3 finished MustardInLeftBinTask/1: SUCCESS | Tasks 16/20 | Episodes 51/60 | Success 88.24% (45/51) | Mean Harness 634.429s | Mean Wall 750.839s | Mean Tokens 1,361,919.7 (15/51 complete) | Mean Raw Harness 646.320s | Mean Raw Wall 762.729s
+[Batch] GPU 3 finished MustardInLeftBinTask/2: SUCCESS | Tasks 17/20 | Episodes 52/60 | Success 88.46% (46/52) | Mean Harness 625.438s | Mean Wall 739.975s | Mean Tokens 1,333,757.1 (16/52 complete) | Mean Raw Harness 637.099s | Mean Raw Wall 751.636s
+[Batch] GPU 1 finished FoodPacking1CansTask/1: SUCCESS | Tasks 17/20 | Episodes 53/60 | Success 88.68% (47/53) | Mean Harness 631.620s | Mean Wall 746.128s | Mean Tokens 1,333,757.1 (16/53 complete) | Mean Raw Harness 643.061s | Mean Raw Wall 757.569s
+[Batch] GPU 1 finished FoodPacking1CansTask/2: SUCCESS | Tasks 18/20 | Episodes 54/60 | Success 88.89% (48/54) | Mean Harness 629.559s | Mean Wall 743.352s | Mean Tokens 1,333,757.1 (16/54 complete) | Mean Raw Harness 640.788s | Mean Raw Wall 754.581s
+[Batch] GPU 2 finished RubiksCubeThenBananaTask/0: SUCCESS | Tasks 18/20 | Episodes 55/60 | Success 89.09% (49/55) | Mean Harness 632.632s | Mean Wall 745.904s | Mean Tokens 1,333,757.1 (16/55 complete) | Mean Raw Harness 643.657s | Mean Raw Wall 756.929s
+[Batch] GPU 2 finished RubiksCubeThenBananaTask/1: SUCCESS | Tasks 18/20 | Episodes 56/60 | Success 89.29% (50/56) | Mean Harness 640.349s | Mean Wall 753.764s | Mean Tokens 1,333,757.1 (16/56 complete) | Mean Raw Harness 651.177s | Mean Raw Wall 764.592s
+[Batch] GPU 2 finished RubiksCubeThenBananaTask/2: SUCCESS | Tasks 19/20 | Episodes 57/60 | Success 89.47% (51/57) | Mean Harness 642.330s | Mean Wall 755.102s | Mean Tokens 1,333,757.1 (16/57 complete) | Mean Raw Harness 652.969s | Mean Raw Wall 765.741s
+[Batch] GPU 2 finished BananaInBowlTask/0: SUCCESS | Tasks 19/20 | Episodes 58/60 | Success 89.66% (52/58) | Mean Harness 636.803s | Mean Wall 748.731s | Mean Tokens 1,334,857.9 (17/58 complete) | Mean Raw Harness 647.258s | Mean Raw Wall 759.186s
+[Batch] GPU 2 finished BananaInBowlTask/1: SUCCESS | Tasks 19/20 | Episodes 59/60 | Success 89.83% (53/59) | Mean Harness 632.644s | Mean Wall 743.389s | Mean Tokens 1,334,857.9 (17/59 complete) | Mean Raw Harness 642.922s | Mean Raw Wall 753.666s
+[Batch] GPU 2 finished BananaInBowlTask/2: SUCCESS | Tasks 20/20 | Episodes 60/60 | Success 90.00% (54/60) | Mean Harness 628.003s | Mean Wall 737.536s | Mean Tokens 1,334,857.9 (17/60 complete) | Mean Raw Harness 638.110s | Mean Raw Wall 747.643s
+[Batch] Final | Tasks 20/20 | Episodes 60/60 | Success 90.00% (54/60) | Mean Harness 628.003s | Mean Wall 737.536s | Mean Tokens 1,334,857.9 (17/60 complete) | Mean Raw Harness 638.110s | Mean Raw Wall 747.643s
diff --git a/harness_robolab_exploration/embo_note/assignments.tsv b/harness_robolab_exploration/embo_note/assignments.tsv
new file mode 100644
index 0000000000000000000000000000000000000000..6574e0652e83b2363986415a4928fece8698ba42
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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_note/batch_manifest.json b/harness_robolab_exploration/embo_note/batch_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e93bc55b840b6bacffdbad1a74b7fedab0e99a
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/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_note/gpu_0/client.log b/harness_robolab_exploration/embo_note/gpu_0/client.log
new file mode 100644
index 0000000000000000000000000000000000000000..20e2429b599ceeaea0eaffa74b95cc53e8d5f89c
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_0/client.log
@@ -0,0 +1,355 @@
+[2026-11-01T16:39:15Z] 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_20261101_163920.log
+2026-11-01T16:39:20Z [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/5.0/02a0e6ab-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 [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 [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/5.0/6a864a42-2075-4721-88fddaa2-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 [70ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-01T16:39:20Z [117ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/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 [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 [279ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [523ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [675ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [5,172ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:26Z [5,173ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:26Z [5,280ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,771ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,782ms] [Warning] [carb] Failed to 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 [8,784ms] [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          | Yes: 0 |     | 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          |        |     | 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 [15,915ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,915ms] [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 
+     0 893.48   1.76   2.56   2.92   3.09   3.18   3.79   4.42 
+     1   2.12 900.58   3.56   1.71   4.10   3.48   4.88   5.27 
+     2   9.66   2.61 877.81   3.73   4.04   4.75   3.31   3.50 
+     3   7.96   7.03   3.26 888.79   3.74   4.05   3.00   6.01 
+     4  14.43  14.96   9.13   4.58 902.20   5.16   4.54   4.39 
+     5  19.43  21.47  19.52  21.19   7.60 920.74   8.69   5.15 
+     6  19.69  12.53   7.57   7.48  13.47  10.10 930.06  14.17 
+     7  15.06  14.58  14.16  13.18  17.63  22.37  19.68 940.13 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.38  30.82  20.41  11.66  11.50  17.96  17.82  11.80 
+     1  16.90   1.41  23.81  15.42  14.32  21.72  22.22  14.51 
+     2  14.55  31.42   1.41  15.55  15.17  21.61  22.45  15.90 
+     3  11.52  17.36  27.08   1.38  11.71  17.46  15.01  12.26 
+     4  11.51  14.72  42.56  11.93   1.41  19.35  17.90  13.81 
+     5  17.18  14.67  28.51  21.08  14.25   1.43  20.47  10.92 
+     6 365.92 409.42 594.43 416.03 249.77 250.46   1.44 213.88 
+     7  57.90  34.07  24.36  57.40  89.79  65.60  69.20   1.35 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.69   8.32   9.53   7.92   7.30   7.66   7.54   6.97 
+     1   8.10   2.54   8.10   7.96   7.42   7.73   8.14   7.20 
+     2   8.17   8.21   2.58   7.94   7.33   7.26   7.28   7.01 
+     3   8.01   7.89   8.01   2.51   7.35   7.25   7.60   7.08 
+     4  14.31   8.95   8.76   8.75   2.40   7.81   7.31   7.16 
+     5   7.66   7.33   7.56   7.40   6.87   2.33   6.99   6.63 
+     6   7.62   7.98   7.82   7.53   7.06   6.96   2.66   7.52 
+     7   7.68   7.51   7.72   7.57   7.01   6.74   7.05   2.32 
+2026-11-01T16:39:46Z [25,333ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.7 GB/s.
+2026-11-01T16:39:46Z [25,333ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 594.4 us.
+2026-11-01T16:39:46Z [25,333ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:49Z [28,270ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,270ms] [Warning] [carb] Failed to 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 [28,336ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,337ms] [Warning] [carb] Failed to 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 [28,346ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,346ms] [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)
+2026-11-01T16:39:49Z [28,469ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,469ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,475ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,475ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-01T16:39:49Z [28,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:49Z [28,482ms] [Warning] [carb] Failed to 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 [29,059ms] [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 [45,362ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,941ms] [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 [62,797ms] [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 [68,137ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,138ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:28Z [68,138ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:28Z [68,148ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
+
+2026-11-01T16:40:29Z [68,307ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,307ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+[RoboLab] Registering 1 task(s): ['PlasticBottlesInSquarePailTask']
+2026-11-01T16:40:44Z [83,576ms] [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@ <0x563da922a7c0>)
+
+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@ <0x563da922a7c0>)
+
+══════════════════════════════════════════════════════════════
+  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_note/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
+2026-11-01T16:40:48Z [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: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 : 0.628697 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 [93,984ms] [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 [93,985ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue 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 [94,068ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue 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 [94,077ms] [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 [94,285ms] [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
+2026-11-01T16:40:57Z [96,444ms] [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((15))' not available in the MDL representation.
+2026-11-01T16:40:57Z [96,445ms] [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((15))' not available in the MDL representation.
+2026-11-01T16:40:57Z [97,103ms] [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((33))' not available in the MDL representation.
+2026-11-01T16:40:57Z [97,103ms] [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((33))' not available in the MDL representation.
+2026-11-01T16:40:58Z [97,870ms] [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((37))' not available in the MDL representation.
+2026-11-01T16:40:58Z [97,870ms] [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((37))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,574ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((66))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,575ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_be2fd7fe/Shader::::OmniPBR::OmniPBR((66))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,597ms] [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((71))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,597ms] [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((71))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,652ms] [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.
+2026-11-01T16:41:00Z [99,652ms] [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.
+2026-11-01T16:41:00Z [99,669ms] [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((87))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,669ms] [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((87))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,701ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:00Z [99,702ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,330ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,331ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3c829434/Shader::::OmniPBR::OmniPBR((111))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,336ms] [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.
+2026-11-01T16:41:02Z [101,336ms] [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.
+2026-11-01T16:41:02Z [101,362ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:02Z [101,363ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,251ms] [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((143))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,252ms] [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((143))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,277ms] [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.
+2026-11-01T16:41:03Z [102,277ms] [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.
+2026-11-01T16:41:03Z [102,296ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' 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_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,638ms] [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((193))' not available in the MDL representation.
+2026-11-01T16:41:03Z [102,638ms] [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((193))' not available in the MDL representation.
+2026-11-01T16:41:04Z [104,107ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-01T16:41:04Z [104,107ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,234ms] [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((262))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,234ms] [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((262))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,316ms] [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((272))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,316ms] [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((272))' not available in the MDL representation.
+2026-11-01T16:41:05Z [105,068ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:06Z [105,387ms] [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((37))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,388ms] [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((37))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,390ms] [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((71))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,391ms] [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((71))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,393ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,393ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2eba6f36/Shader::::OmniPBR::OmniPBR((96))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,395ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,396ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_41486828/Shader::::OmniPBR::OmniPBR((124))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,399ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,399ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_bce72871/Shader::::OmniPBR::OmniPBR((162))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,403ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,403ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3209ba2f/Shader::::OmniPBR::OmniPBR((225))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 16.952270 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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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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: False, episode_step: 2700, duration: 180.0, dt: 0.06666666666666667, metrics: {'ee_sparc': -25.519449642567547, 'joint_sparc_mean': -46.77741177011576, 'ee_isj': 24803.33939931037, 'joint_isj': 2233407.0338799874, 'ee_path_length': 18.280919371025625, 'joint_rmse_mean': 1.2521855356123288, 'ee_speed_max': 1.422780990600586, 'ee_speed_mean': 0.09789899736642838}, events: {'GRIPPER_FULLY_CLOSED': 47, 'OBJECT_BUMPED': 6, 'TARGET_OBJECT_DROPPED': 16, 'GRIPPER_HIT_OBJECT': 2, 'GRIPPER_HIT_TABLE': 5, 'WRONG_OBJECT_GRABBED': 6, 'wrong_objects_grabbed': ['squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01', 'squarepail_a01']}, instruction_type: default, timing: {'policy_inference_s': 4359.274, 'policy_inference_avg_ms': 1614.5, 'env_step_s': 841.059, 'env_step_avg_ms': 311.5, 'video_write_s': 19.628, 'video_write_avg_ms': 7.3, 'wall_total_s': 5219.96, 'it_per_sec': 0.52}, score: 0.0, reason: Conditions not satisfied: object_grabbed(object=whitepackerbottle_a01) (step 1/2); object_grabbed(object=whitepackerbottle_a02) (step 1/2); object_grabbed(object=whitepackerbottle_a03) (step 1/2), harness_episode_id: 6d6cc2949ec84616a15b049bcc41d67d-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_note/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: 409, duration: 27.266666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -7.383105651855615, 'joint_sparc_mean': -9.71207266886765, 'ee_isj': 2481.1715894159024, 'joint_isj': 118118.67157125178, 'ee_path_length': 3.969733736564053, 'joint_rmse_mean': 1.1209900922627543, 'ee_speed_max': 0.531848669052124, 'ee_speed_mean': 0.13525448739528656}, events: {'GRIPPER_FULLY_CLOSED': 4, 'TARGET_OBJECT_DROPPED': 3}, instruction_type: default, timing: {'policy_inference_s': 1113.211, 'policy_inference_avg_ms': 2721.8, 'env_step_s': 127.782, 'env_step_avg_ms': 312.4, 'video_write_s': 3.167, 'video_write_avg_ms': 7.7, 'wall_total_s': 1244.16, 'it_per_sec': 0.33}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: fad6f935d0c34cb8a17254213333970e-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_note/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: 785, duration: 52.333333333333336, dt: 0.06666666666666667, metrics: {'ee_sparc': -9.992111303477976, 'joint_sparc_mean': -15.073163171056416, 'ee_isj': 4243.534580073678, 'joint_isj': 114574.9588886376, 'ee_path_length': 6.360320774060942, 'joint_rmse_mean': 1.0729506154319617, 'ee_speed_max': 0.6337877511978149, 'ee_speed_mean': 0.11469753831624985}, events: {'TARGET_OBJECT_DROPPED': 12, 'GRIPPER_FULLY_CLOSED': 10, 'GRIPPER_HIT_OBJECT': 1, 'OBJECT_BUMPED': 1}, instruction_type: default, timing: {'policy_inference_s': 2389.867, 'policy_inference_avg_ms': 3044.4, 'env_step_s': 245.682, 'env_step_avg_ms': 313.0, 'video_write_s': 6.6, 'video_write_avg_ms': 8.4, 'wall_total_s': 2642.149, 'it_per_sec': 0.3}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: b42ca3b7032a4cc2a67541e6c12c99d5-2
+----------------------------------------------------------------------- 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)                2/3      66.7%   [19.4-93.2]    0.667        0.000       39.80   -14.30   9.54       11.6        0.38 50.6       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
+PlasticBottlesInSquarePailTask 2/3      66.7%   [19.4-93.2]    0.667        0.000       39.80   -14.30   9.54       11.6        0.38 50.6       
+------------------------------------------------------------------------------------------------------------------------------------------------------------------
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"time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"whitepackerbottle_a01": [["functools.partial(<function object_grabbed at 0x7ff1aa601c60>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7ff1aa601a80>, object='whitepackerbottle_a01', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a02": [["functools.partial(<function object_grabbed at 0x7ff1aa601c60>, object='whitepackerbottle_a02')", 0.0], ["functools.partial(<function object_in_container at 0x7ff1aa601a80>, object='whitepackerbottle_a02', container='squarepail_a01', require_contact_with=False, require_gripper_detached=True)", 1.0]], "whitepackerbottle_a03": [["functools.partial(<function object_grabbed at 0x7ff1aa601c60>, object='whitepackerbottle_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7ff1aa601a80>, object='whitepackerbottle_a03', 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three small plastic bottles and place them inside the square shaped pail"}, "policy": "harness", "renderer": "realtime"}
\ No newline at end of file
diff --git a/harness_robolab_exploration/embo_note/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json b/harness_robolab_exploration/embo_note/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ab8298e17a49c0d4938c40c8790df8688049700
--- /dev/null
+++ b/harness_robolab_exploration/embo_note/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "PlasticBottlesInSquarePailTask", "env_id": 0, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 66, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'utilityjug_a01' nudged 0.051m", "score": 0.0}, {"step": 219, "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": 227, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 322, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 339, "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": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 354, "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": 355, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 355, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 393, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 498, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 623, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'squarepail_a01'", "score": 0.0}, {"step": 658, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 682, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 684, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 705, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 713, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 743, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 748, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 764, "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": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a03). regressing to step 0 for whitepackerbottle_a03.", "score": 0.0}, {"step": 784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a03). advanced 1 step(s) to step 1 for whitepackerbottle_a03.", 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object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 918, "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": 929, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 929, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 947, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1002, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1042, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1150, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1186, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1210, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1224, "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": 1225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", 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"Object bumped: 'squarepail_a01' nudged 0.071m", "score": 0.0}, {"step": 1378, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1466, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1490, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1530, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1562, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1582, "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": 1583, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1583, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": 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diff --git a/harness_robolab_exploration/embo_note/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json b/harness_robolab_exploration/embo_note/gpu_0/robolab/PlasticBottlesInSquarePailTask/log_1_env0.json
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+[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 [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'
+2026-11-01T16:39:20Z [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/a35b2532-28fd-4a9a-84a48aa0-85351c47.dmp'
+2026-11-01T16:39:20Z [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/5.0/97d14e12-b999-4094-ad08ce9e-1a92ece3.dmp'
+2026-11-01T16:39:20Z [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/5.0/6a864a42-2075-4721-88fddaa2-b271300b.dmp'
+2026-11-01T16:39:20Z [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/5.0/84a79b90-3746-4c18-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 [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/5.0/8ec2f72a-43e7-4beb-cdca1bb7-35c0572f.dmp'
+2026-11-01T16:39:20Z [87ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user opt-out: '/data/NTU_slab/draven/proj/codebase/third_party/RoboLab/.venv/lib/python3.11/site-packages/omni/data/Kit/Isaac-Sim/5.0/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'
+2026-11-01T16:39:21Z [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 [224ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [379ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [425ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [532ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [623ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [788ms] [Warning] [carb.crashreporter-breakpad.plugin] [previous crash] preventing upload of minidump due to user 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 [4,832ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:25Z [4,833ms] [Warning] [carb] Failed to 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 [4,949ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-01T16:39:29Z [8,352ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:29Z [8,353ms] [Warning] [carb] Failed to 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 [8,354ms] [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: 918618
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-11-01T16:39:36Z [15,615ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+2026-11-01T16:39:36Z [15,615ms] [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 
+     0 894.98   9.30   9.68   9.90   5.34   4.34   4.01   3.95 
+     1   2.43 924.56  14.54  16.49  16.83  18.40  16.97  17.15 
+     2   2.10  15.45 922.92  14.90  17.29  16.42  14.17  13.44 
+     3   2.41   2.20  13.01 921.22  15.08  16.31  17.71  18.13 
+     4  15.19   4.75   5.64  10.99 923.34  20.55  14.85  22.11 
+     5  13.54   5.47   6.00  18.78  22.01 924.56  21.39  22.40 
+     6  18.63  19.36   1.52  13.32  11.46  13.24 912.68  19.85 
+     7  11.47  13.14   2.54   1.48  10.79   9.12  11.51 918.58 
+P2P=Enabled Latency (P2P Writes) Matrix (us)
+   GPU     0      1      2      3      4      5      6      7 
+     0   1.44  17.16  15.39 657.32  16.86  23.31  35.67  11.68 
+     1  13.14   1.36  11.75  27.39  64.30  17.18  59.19  17.32 
+     2  11.19  14.81   1.46  24.68  12.69  46.77  33.26  19.53 
+     3 609.41 581.99 1073.24   1.52 978.66 373.48 151.24  67.91 
+     4 569.06 423.43 384.25 430.51   1.39 420.73 412.48 422.38 
+     5  19.80  21.74  20.58  26.88  23.53   1.43  20.50  16.38 
+     6  19.59  21.70  30.04  29.49  19.38  13.02   1.39  10.44 
+     7  10.59  13.14  25.48  17.09  16.83  17.13  17.36   1.43 
+
+   CPU     0      1      2      3      4      5      6      7 
+     0   2.64   8.31   8.01   8.01   7.30   7.13   7.24   7.24 
+     1   8.18   2.50   7.98   7.94   7.22   7.12   7.38   7.01 
+     2   8.02   7.94   2.53   8.00   7.26   7.12   7.35   7.11 
+     3   8.26   7.93   8.08   2.58   7.48   7.33   7.30   7.23 
+     4   7.72   7.62   7.71   7.51   2.37   6.82   6.80   7.09 
+     5   8.09   7.97   7.75   7.53   6.88   2.22   6.81   6.59 
+     6   7.51   7.21   7.49   7.24   6.87   6.70   2.26   6.59 
+     7   7.46   7.14   7.30   7.23   6.80   6.49   6.62   2.20 
+2026-11-01T16:39:44Z [23,177ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed bandwidth: 1.5 GB/s.
+2026-11-01T16:39:44Z [23,178ms] [Warning] [gpu.foundation.plugin] CUDA peer-to-peer observed latency: 1073.2 us.
+2026-11-01T16:39:44Z [23,178ms] [Warning] [gpu.foundation.plugin] Please verify if observed bandwidth and latency are expected.
+2026-11-01T16:39:48Z [27,168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,169ms] [Warning] [carb] Failed to 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 [27,308ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,308ms] [Warning] [carb] Failed to 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 [27,321ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,322ms] [Warning] [carb] Failed to 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 [27,546ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,546ms] [Warning] [carb] Failed to 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 [27,552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,552ms] [Warning] [carb] Failed to 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 [27,560ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-01T16:39:48Z [27,560ms] [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)
+2026-11-01T16:39:49Z [28,908ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-01T16:39:53Z [33,059ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-01T16:40:06Z [45,366ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-01T16:40:07Z [46,879ms] [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 [62,804ms] [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 [68,190ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,191ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span is disabled
+2026-11-01T16:40:29Z [68,191ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:29Z [68,226ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId 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): ['FruitsOnionToPlateTask', 'BananasInBinThreeTotalTask']
+2026-11-01T16:40:44Z [83,580ms] [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@ <0x55b3f54e7360>)
+
+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@ <0x55b3f54e7360>)
+
+══════════════════════════════════════════════════════════════
+  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_note/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
+2026-11-01T16:40:51Z [90,802ms] [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 : 2.317362 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 [96,961ms] [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 [96,961ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue 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 [96,994ms] [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 [96,994ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue 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 [97,002ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue 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 [97,010ms] [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 [97,289ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:40:58Z [97,320ms] [Warning] [usdrt.hydra.fabric_scene_delegate.plugin] using high frequency span with attrs is disabled
+2026-11-01T16:41:04Z [103,919ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,920ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:04Z [103,920ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,192ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,193ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:05Z [104,193ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,301ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,301ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,305ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,305ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,341ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,341ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,349ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,349ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,364ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,365ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,365ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,478ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-01T16:41:06Z [105,478ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,383ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (501, 278) is below minimal input resolution of 300.
+2026-11-01T16:41:07Z [106,895ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,896ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,896ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_2e186dc7/Shader::::OmniPBR::OmniPBR((79))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,900ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,900ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,900ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_3f9b20b2/Shader::::OmniPBR::OmniPBR((126))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,902ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,902ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_c8492364/OmniPBR::::OmniPBR::OmniPBR((145))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,903ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,903ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_6ad5656e/OmniPBR::::OmniPBR::OmniPBR((146))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,904ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8593ca4e/OmniPBR::::OmniPBR::OmniPBR((159))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,904ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,905ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_8c6d8755/OmniPBR::::OmniPBR::OmniPBR((161))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,905ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,905ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,906ms] [Warning] [omni.hydra] Parameter 'roughness_texture' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_d66b86a2/Shader::::OmniPBR::OmniPBR((167))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,909ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+2026-11-01T16:41:07Z [106,909ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_67b8945b/OmniPBR::::OmniPBR::OmniPBR((223))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 13.970865 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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+
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+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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': -10.132063702519252, 'joint_sparc_mean': -15.497091364785545, 'ee_isj': 6105.939261544527, 'joint_isj': 839980.2278222373, 'ee_path_length': 8.142851661871351, 'joint_rmse_mean': 0.9665357691229909, 'ee_speed_max': 0.6805599331855774, 'ee_speed_mean': 0.12945601344108582}, events: {'OBJECT_BUMPED': 12, 'GRIPPER_HIT_OBJECT': 4, 'WRONG_OBJECT_GRABBED': 21, 'GRIPPER_FULLY_CLOSED': 11, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_HIT_TABLE': 3, 'OBJECT_OUT_OF_SCENE': 1, 'OBJECT_MOVED': 1, 'wrong_objects_grabbed': ['wooden_bowl', 'wooden_bowl', 'wooden_bowl', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'serving_bowl', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge', 'pumpkinlarge']}, instruction_type: default, timing: {'policy_inference_s': 3054.866, 'policy_inference_avg_ms': 3394.3, 'env_step_s': 575.876, 'env_step_avg_ms': 639.9, 'video_write_s': 6.964, 'video_write_avg_ms': 7.7, 'wall_total_s': 3637.706, 'it_per_sec': 0.25}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: e022bb910fbc473eb316812e323f3eb2-0
+[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_note/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': -6.224816857597864, 'joint_sparc_mean': -8.577658554732656, 'ee_isj': 11443.685663029853, 'joint_isj': 140096.15002946203, 'ee_path_length': 6.41503371046728, 'joint_rmse_mean': 1.101908568743475, 'ee_speed_max': 1.4899836778640747, 'ee_speed_mean': 0.1022014170885086}, events: {'OBJECT_BUMPED': 4, 'GRIPPER_HIT_OBJECT': 1, 'WRONG_OBJECT_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 2, 'GRIPPER_HIT_TABLE': 2, 'TARGET_OBJECT_DROPPED': 5, 'wrong_objects_grabbed': ['wooden_bowl']}, instruction_type: default, timing: {'policy_inference_s': 1003.563, 'policy_inference_avg_ms': 1115.1, 'env_step_s': 573.176, 'env_step_avg_ms': 636.9, 'video_write_s': 7.94, 'video_write_avg_ms': 8.8, 'wall_total_s': 1584.679, 'it_per_sec': 0.57}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 84eeda9c7c694e818808c24e2e07b440-1
+[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_note/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': -4.981302645154848, 'joint_sparc_mean': -5.654781436269731, 'ee_isj': 1932.7686944014567, 'joint_isj': 22591.710995669237, 'ee_path_length': 2.2597200022915884, 'joint_rmse_mean': 0.8330945302888823, 'ee_speed_max': 1.0140552520751953, 'ee_speed_mean': 0.036302968859672546}, events: {'OBJECT_BUMPED': 2, 'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 1}, instruction_type: default, timing: {'policy_inference_s': 482.022, 'policy_inference_avg_ms': 535.6, 'env_step_s': 564.679, 'env_step_avg_ms': 627.4, 'video_write_s': 7.898, 'video_write_avg_ms': 8.8, 'wall_total_s': 1054.599, 'it_per_sec': 0.85}, score: 0.0, reason: Condition not satisfied: object_grabbed(object=redonion) (step 1/2), harness_episode_id: 360329b1bf254f75be5a5853d00214c3-2
+[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
+2026-11-01T18:27:18Z [6,477,969ms] [Warning] [isaacsim.core.simulation_manager.impl.simulation_manager] CCD is not supported on GPU, ignoring request to enable it
+[INFO]: Base environment:
+	Environment device    : cuda: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 : 0.210433 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...
+2026-11-01T18:27:22Z [6,481,520ms] [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.
+2026-11-01T18:27:22Z [6,481,521ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-01T18:27:22Z [6,481,530ms] [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.
+2026-11-01T18:27:22Z [6,481,530ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-01T18:27:22Z [6,481,539ms] [Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.
+2026-11-01T18:27:22Z [6,481,546ms] [Warning] [isaaclab.assets.articulation.articulation] Not all actuators are configured! Total number of actuated joints not equal to number of joints available: 8 != 13.
+2026-11-01T18:27:22Z [6,481,564ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-01T18:27:24Z [6,483,549ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((410))' not available in the MDL representation.
+2026-11-01T18:27:24Z [6,483,549ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((410))' not available in the MDL representation.
+2026-11-01T18:27:27Z [6,486,314ms] [Warning] [omni.hydra] Parameter 'metallic' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((410))' not available in the MDL representation.
+2026-11-01T18:27:27Z [6,486,314ms] [Warning] [omni.hydra] Parameter 'roughness' of shade node 'usd::rtx_scope0::/__Fabric_StageInfo/MaterialPool/mat_f2e6d162/OmniPBR::::OmniPBR::OmniPBR((410))' not available in the MDL representation.
+[INFO]: Time taken for simulation start : 8.282598 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_note/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: 282, duration: 18.8, dt: 0.06666666666666667, metrics: {'ee_sparc': -5.9449854674718114, 'joint_sparc_mean': -7.334664980817349, 'ee_isj': 1605.8726171854364, 'joint_isj': 25879.004637592363, 'ee_path_length': 2.6592301828650404, 'joint_rmse_mean': 0.9288180949911676, 'ee_speed_max': 0.5296303629875183, 'ee_speed_mean': 0.13711421191692352}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 8, 'GRIPPER_FULLY_CLOSED': 2}, instruction_type: default, timing: {'policy_inference_s': 696.419, 'policy_inference_avg_ms': 2469.6, 'env_step_s': 79.098, 'env_step_avg_ms': 280.5, 'video_write_s': 2.521, 'video_write_avg_ms': 8.9, 'wall_total_s': 778.039, 'it_per_sec': 0.36}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 77d00b91ea28406bb37c571451be8795-0
+[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_note/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: True, episode_step: 194, duration: 12.933333333333334, dt: 0.06666666666666667, metrics: {'ee_sparc': -6.706630117177794, 'joint_sparc_mean': -8.339018201926502, 'ee_isj': 1630.535195529494, 'joint_isj': 16422.005744103484, 'ee_path_length': 1.8654503916013223, 'joint_rmse_mean': 0.8330902390189886, 'ee_speed_max': 0.8065143823623657, 'ee_speed_mean': 0.1386316865682602}, events: {'TARGET_OBJECT_DROPPED': 5, 'MULTIPLE_OBJECTS_GRABBED': 1, 'GRIPPER_FULLY_CLOSED': 3, 'GRIPPER_HIT_TABLE': 2}, instruction_type: default, timing: {'policy_inference_s': 401.95, 'policy_inference_avg_ms': 2071.9, 'env_step_s': 53.765, 'env_step_avg_ms': 277.1, 'video_write_s': 1.831, 'video_write_avg_ms': 9.4, 'wall_total_s': 457.546, 'it_per_sec': 0.42}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 6fabd338c9354c9fb2ec9bbcd47b54d7-1
+[RoboLab] Running BananasInBinThreeTotalTask_2: 'Make sure there are 3 (three) bananas in the grey bin.' (run 2, 1 envs)
+
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 13%|█▎        | 114/900 [03:51<35:42,  2.73s/it]
 13%|█▎        | 115/900 [03:51<26:09,  2.00s/it]
 13%|█▎        | 116/900 [03:51<19:30,  1.49s/it]
 13%|█▎        | 117/900 [03:52<14:57,  1.15s/it]
 13%|█▎        | 117/900 [03:52<25:57,  1.99s/it]
+Wrote to /data/NTU_slab/draven/proj/codebase/outputs/robolab_exploration/embo_note/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: 118, duration: 7.866666666666666, dt: 0.06666666666666667, metrics: {'ee_sparc': -4.42082070509402, 'joint_sparc_mean': -4.8157865325867695, 'ee_isj': 1149.1794264730197, 'joint_isj': 9881.772620687929, 'ee_path_length': 1.3761439661377162, 'joint_rmse_mean': 0.8544549745457678, 'ee_speed_max': 0.651167631149292, 'ee_speed_mean': 0.16907711327075958}, events: {'GRIPPER_HIT_TABLE': 1, 'TARGET_OBJECT_DROPPED': 2, 'GRIPPER_FULLY_CLOSED': 1}, instruction_type: default, timing: {'policy_inference_s': 197.642, 'policy_inference_avg_ms': 1674.9, 'env_step_s': 33.61, 'env_step_avg_ms': 284.8, 'video_write_s': 1.432, 'video_write_avg_ms': 12.1, 'wall_total_s': 232.683, 'it_per_sec': 0.51}, score: 1.0, reason: Completed subtask 'pick_and_place' 1/1, harness_episode_id: 8906b6d4b78044709608d14be1e6c0e6-2
+--------------------------------------------------------------------- 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)            3/6      50.0%   [18.4-81.6]    0.500        0.000       13.20   -6.40    3.79       11.9        0.49 21.5       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
+BananasInBinThreeTotalTask 3/3      100.0%  [39.8-99.4]    1.000        -           13.20   -5.69    1.97       14.8        0.43 8.2        
+FruitsOnionToPlateTask     0/3      0.0%    [0.6-60.2]     0.000        0.000       -       -7.11    5.61       8.9         0.56 34.9       
+--------------------------------------------------------------------------------------------------------------------------------------------------------------
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