Errors running Behavior 1K tasks

I'm trying to experiment with the Behavior 1K tasks and I'm running into various errors depending on the task that I attempt ranging from

2023-08-08 15:29:40 [148,620ms] [Error] [omni.kit.manipulator.prim.model] Traceback (most recent call last):
  File "/isaac-sim/kit/extscore/omni.kit.manipulator.prim/omni/kit/manipulator/prim/model.py", line 1492, in _update_transform_from_prims_async
    pivot_prim_path = self._pivot_prim.GetPath()
AttributeError: 'NoneType' object has no attribute 'GetPath'

2023-08-07 22:25:37 [388,317ms] [Error] [omni.physx.plugin] PhysX error: Non GPU compatible convex mesh isn't allowed to collied with particle system fail!!
, FILE /buildAgent/work/f25a4639a4b1bdc1/source/gpunarrowphase/src/PxgNphaseImplementationContext.cpp, LINE 1635

and straight up segfaults.

In all instances these errors have been replicated both in install from source and docker versions.

Replication steps:

sudo ./run_docker.sh <path_to_data> (note no -h, though presumably not relevant)
Modify /omnigibson-src/omnigibson/macros.py to enable USE_GPU_DYNAMICS based on instructions/error message when it is not enabled.
Modify /omnigibson-src/omnigibson/configs/fetch_behavior.yaml to use a particular scene
Start the example random motion controller python -m omnigibson.examples.environments.behavior_env_demo

git log -n1 from my local (non-docker) checkout

commit 452b28f91a953d88d73ab4ac67560652ff5ee4f9 (HEAD -> main, upstream/main, origin/main, origin/HEAD)
Merge: 4c7e04c8 8eb9a6a3
Author: Josiah Wong <84cremebrule@gmail.com>
Date:   Sun Aug 6 23:12:35 2023 -0700

    Merge pull request #250 from StanfordVL/release-version-update

    Release version update

Example git diff from upstream/main

``` diff --git a/omnigibson/configs/fetch_behavior.yaml b/omnigibson/configs/fetch_behavior.yaml index 84da35e3..28afb218 100644 --- a/omnigibson/configs/fetch_behavior.yaml +++ b/omnigibson/configs/fetch_behavior.yaml @@ -7,7 +7,7 @@ render: scene: type: InteractiveTraversableScene - scene_model: Rs_int + scene_model: Benevolence_1_int trav_map_resolution: 0.1 trav_map_erosion: 2 trav_map_with_objects: true @@ -50,7 +50,7 @@ objects: [] task: type: BehaviorTask - activity_name: prepare_sea_salt_soak + activity_name: clean_a_kitchen_table activity_definition_id: 0 activity_instance_id: 0 predefined_problem: null diff --git a/omnigibson/macros.py b/omnigibson/macros.py index 6538479e..fe76b9a6 100644 --- a/omnigibson/macros.py +++ b/omnigibson/macros.py @@ -40,7 +40,7 @@ gm.SHOW_DISCLAIMERS = False # Whether to use omni's GPU dynamics # This is necessary for certain features; e.g. particles (fluids / cloth) -gm.USE_GPU_DYNAMICS = False +gm.USE_GPU_DYNAMICS = True # Whether to use high-fidelity rendering (this includes, e.g., isosurfaces) gm.ENABLE_HQ_RENDERING = False ```

Full error messages in followup posts.

scene_model: Benevolence_1_int

activity_name: clean_a_kitchen_table

git diff

console output

``` (omnigibson) root@geralt:/omnigibson-src# python -m omnigibson.examples.environments.behavior_env_demo [INFO] [omnigibson] ---------- Starting OmniGibson ---------- [Warning] [omni.isaac.kit.simulation_app] Modules: ['omnigibson', 'omnigibson.macros', 'omni', 'omni.kit.app._impl.telemetry_helpers'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Starting kit application with the following args: ['/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/isaac-sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/isaac-sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--ext-folder', '/isaac-sim/exts', '--ext-folder', '/isaac-sim/apps', '--/physics/cudaDevice=0', '--portable', '--allow-root'] Passing the following args to the base kit application: [] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230808_155543.log 2023-08-08 15:55:43 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar/config' 2023-08-08 15:55:43 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.radar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.radar/config' [0.295s] [ext: omni.stats-0.0.0] startup [0.343s] [ext: omni.rtx.shadercache-1.0.0] startup [0.352s] [ext: omni.assets.plugins-0.0.0] startup [0.355s] [ext: omni.gpu_foundation-0.0.0] startup 2023-08-08 15:55:44 [344ms] [Warning] [carb] FrameworkImpl::setDefaultPlugin(client: omni.gpu_foundation_factory.plugin, desc : [carb::graphics::Graphics v2.11], plugin : carb.graphics-vulkan.plugin) failed. Plugin selection is locked, because the interface was previously acquired by: [0.370s] [ext: carb.windowing.plugins-1.0.0] startup 2023-08-08 15:55:44 [822ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Microsoft Natural® Ergonomic Keyboard 4000 [030000005e040000db00000011010000] [0.842s] [ext: omni.kit.renderer.init-0.0.0] startup |---------------------------------------------------------------------------------------------| | Driver Version: 525.125.6 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | | | | | | | 2684 | 4b710849.. | |=============================================================================================| | OS: Linux geralt, Version: 6.2.0-26-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4) | Processor: Intel(R) Xeon(R) CPU E5-2690 v4 @ 2.60GHz | Cores: Unknown | Logical: 56 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 128771 | Free Memory: 105980 | Total Page/Swap (MB): 1951 | Free Page/Swap: 1951 |---------------------------------------------------------------------------------------------| [3.039s] [ext: omni.kit.pipapi-0.0.0] startup [3.064s] [ext: omni.kit.pip_archive-0.0.0] startup [3.096s] [ext: omni.kit.loop-isaac-1.0.0] startup [3.097s] [ext: omni.kit.async_engine-0.0.0] startup [3.102s] [ext: omni.kit.test-0.0.0] startup [3.319s] [ext: omni.usd.config-1.0.0] startup [3.329s] [ext: omni.usd.libs-1.0.0] startup [3.546s] [ext: omni.isaac.core_archive-2.0.1] startup [3.742s] [ext: omni.pip.torch-1_13_0-0.1.4] startup [3.748s] [ext: omni.isaac.ml_archive-1.1.0] startup [3.903s] [ext: omni.client-0.1.1] startup [3.922s] [ext: omni.appwindow-1.0.1] startup [3.930s] [ext: omni.kit.renderer.core-0.0.0] startup [4.081s] [ext: omni.kit.renderer.capture-0.0.0] startup [4.100s] [ext: omni.kit.renderer.imgui-0.0.0] startup [4.326s] [ext: carb.audio-0.1.0] startup [4.332s] [ext: omni.ui-2.12.23] startup [4.359s] [ext: omni.uiaudio-1.0.0] startup [4.363s] [ext: omni.kit.mainwindow-1.0.0] startup [4.370s] [ext: omni.kit.uiapp-0.0.0] startup [4.370s] [ext: omni.usd.schema.physics-1.0.0] startup [4.459s] [ext: omni.usd.schema.omniscripting-1.0.0] startup [4.475s] [ext: omni.usd.schema.audio-0.0.0] startup [4.494s] [ext: omni.usd.schema.semantics-0.0.0] startup [4.517s] [ext: omni.usd.schema.anim-0.0.0] startup [4.661s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [4.680s] [ext: omni.usd.schema.geospatial-0.0.0] startup [4.717s] [ext: omni.usd.core-1.0.0] startup [4.727s] [ext: omni.gpucompute.plugins-0.0.0] startup [4.729s] [ext: omni.timeline-1.0.5] startup [4.743s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [4.757s] [ext: omni.hydra.usdrt_delegate-4.1.1] startup [4.802s] [ext: omni.kit.window.popup_dialog-2.0.15] startup [4.824s] [ext: omni.kit.actions.core-1.0.0] startup [4.830s] [ext: omni.kit.widget.nucleus_connector-1.0.2] startup [4.845s] [ext: omni.kit.commands-1.4.5] startup [4.862s] [ext: omni.hydra.scene_delegate-0.3.0] startup [4.869s] [ext: omni.usd-1.6.23] startup [5.060s] [ext: omni.kit.asset_converter-1.2.39] startup [5.101s] [ext: omni.usd.schema.physx-0.0.0] startup [5.167s] [ext: omni.usd.schema.isaac-1.0.0] startup [5.205s] [ext: omni.usd.schema.forcefield-0.0.0] startup [5.222s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup [5.232s] [ext: omni.inspect-1.0.1] startup [5.241s] [ext: omni.kit.menu.utils-1.4.7] startup [5.274s] [ext: omni.kit.usd.layers-2.0.10] startup [5.308s] [ext: omni.graph.core-2.64.7] startup [5.312s] [ext: omni.iray.libs-0.0.0] startup [5.347s] [ext: omni.kit.primitive.mesh-1.0.6] startup [5.369s] [ext: omni.volume-0.1.0] startup [5.374s] [ext: omni.mdl.neuraylib-0.1.0] startup [5.380s] [ext: omni.kit.stage_templates-1.1.11] startup [5.394s] [ext: omni.graph.tools-1.17.0] startup [5.493s] [ext: omni.hydra.rtx-0.1.0] startup [5.504s] [ext: omni.kit.usd_undo-0.1.1] startup [5.508s] [ext: omni.ui.scene-1.5.17] startup [5.520s] [ext: omni.graph-1.50.1] startup [5.663s] [ext: omni.debugdraw-0.1.1] startup [5.672s] [ext: omni.hydra.engine.stats-1.0.0] startup [5.684s] [ext: omni.kit.search_core-1.0.1] startup [5.691s] [ext: omni.kit.widget.path_field-2.0.4] startup [5.697s] [ext: omni.kit.widget.versioning-1.3.8] startup [5.710s] [ext: omni.kit.widget.filebrowser-2.3.8] startup [5.764s] [ext: omni.kit.widget.browser_bar-2.0.4] startup [5.768s] [ext: omni.kit.notification_manager-1.0.4] startup [5.787s] [ext: omni.kvdb-0.0.0] startup [5.796s] [ext: omni.kit.window.filepicker-2.7.8] startup OmniAssetFileFormat [5.915s] [ext: omni.kit.viewport.registry-104.0.2] startup [5.922s] [ext: omni.kit.window.file_importer-1.0.8] startup [5.926s] [ext: omni.hydra.pxr-1.1.2] startup [5.932s] [ext: omni.mdl-0.1.0] startup [6.151s] [ext: omni.kit.clipboard-1.0.0] startup [6.153s] [ext: omni.activity.core-1.0.1] startup [6.161s] [ext: omni.kit.hydra_texture-1.0.11] startup [6.171s] [ext: omni.kit.material.library-1.3.21] startup [6.187s] [ext: omni.kit.menu.create-1.0.8] startup [6.193s] [ext: omni.kit.window.drop_support-1.0.1] startup [6.195s] [ext: omni.kit.widget.viewport-104.1.15] startup [6.214s] [ext: omni.kit.viewport.legacy_gizmos-1.0.8] startup [6.219s] [ext: omni.kit.context_menu-1.5.10] startup [6.241s] [ext: omni.kit.viewport.window-104.1.18] startup [6.334s] [ext: omni.localcache-0.0.0] startup [6.341s] [ext: omni.kit.window.viewport-0.0.0] startup [10.922s] [ext: omni.convexdecomposition-104.1.6-5.1] startup [10.941s] [ext: omni.kit.viewport.utility-1.0.12] startup [10.954s] [ext: omni.kit.window.file_exporter-1.0.10] startup [10.963s] [ext: omni.ui_query-1.1.1] startup [10.972s] [ext: omni.kit.window.file-1.3.30] startup [10.993s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup [10.999s] [ext: omni.kit.ui_test-1.2.9] startup [11.015s] [ext: omni.kit.window.property-1.8.2] startup [11.025s] [ext: omni.kit.window.content_browser-2.6.5] startup [11.113s] [ext: omni.kit.widget.stage-2.7.18] startup [11.147s] [ext: omni.usdphysics-104.1.6-5.1] startup [11.151s] [ext: omni.kit.property.usd-3.18.12] startup [11.228s] [ext: omni.physx-104.1.6-5.1] startup [11.281s] [ext: omni.kit.widget.settings-1.0.1] startup [11.294s] [ext: omni.kit.widget.graph-1.5.3] startup [11.488s] [ext: omni.kit.widget.text_editor-1.0.2] startup [11.492s] [ext: omni.kit.window.preferences-1.3.7] startup [11.601s] [ext: omni.kit.window.extensions-1.1.1] startup [11.640s] [ext: omni.kit.widget.prompt-1.0.4] startup [11.645s] [ext: omni.physics.tensors-0.1.0] startup [11.667s] [ext: omni.graph.ui-1.24.1] startup [11.951s] [ext: omni.isaac.version-1.0.0] startup [11.954s] [ext: omni.physx.tensors-0.1.0] startup [12.651s] [ext: omni.graph.action-1.31.0] startup [12.678s] [ext: omni.kit.numpy.common-0.1.0] startup [12.683s] [ext: omni.kit.graph.delegate.default-1.0.18] startup [12.687s] [ext: omni.kit.widget.searchfield-1.0.8] startup [12.694s] [ext: omni.isaac.dynamic_control-1.2.2] startup [12.723s] [ext: omni.kit.manipulator.viewport-104.0.7] startup [12.728s] [ext: omni.kit.graph.editor.core-1.4.7] startup [12.747s] [ext: omni.isaac.core-1.42.0] startup [15.204s] [ext: omni.graph.visualization.nodes-2.0.0] startup [15.226s] [ext: omni.kit.graph.widget.variables-2.0.4] startup [15.234s] [ext: omni.isaac.ui-0.4.3] startup [15.250s] [ext: omni.isaac.isaac_sensor-2.0.0] startup 2023-08-08 15:55:59 [15,232ms] [Warning] [omni.isaac.isaac_sensor] omni.isaac.isaac_sensor is deprecated and was renamed; use omni.isaac.sensor [15.251s] [ext: omni.isaac.surface_gripper-0.3.2] startup 2023-08-08 15:55:59 [15,239ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Surface Gripper ********************* 2023-08-08 15:55:59 [15,239ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Surface Gripper uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [15.284s] [ext: omni.kit.graph.usd.commands-1.2.0] startup [15.288s] [ext: omni.kit.graph.delegate.modern-1.6.4] startup [15.300s] [ext: omni.isaac.manipulators-1.1.0] startup [15.308s] [ext: omni.graph.window.core-1.41.0] startup [15.377s] [ext: omni.isaac.mjcf-0.3.0] startup 2023-08-08 15:55:59 [15,373ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription MJCF Importer ********************* 2023-08-08 15:55:59 [15,373ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] MJCF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [15.395s] [ext: omni.graph.window.generic-1.3.10] startup 2023-08-08 15:55:59 [15,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Push Graph ********************* 2023-08-08 15:55:59 [15,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Push Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [15,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Lazy Graph ********************* 2023-08-08 15:55:59 [15,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Lazy Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [15.402s] [ext: omni.kit.widget.spinner-1.0.4] startup [15.406s] [ext: omni.kit.window.cursor-1.1.1] startup [15.409s] [ext: omni.isaac.lula-1.2.1] startup [15.437s] [ext: omni.graph.nodes-1.48.3] startup [15.628s] [ext: omni.kit.viewport.menubar.core-104.4.1] startup [15.710s] [ext: omni.isaac.motion_planning-0.2.1] startup [15.742s] [ext: omni.kit.widget.zoombar-1.0.4] startup [15.747s] [ext: omni.syntheticdata-0.2.4] startup 2023-08-08 15:55:59 [15,788ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path [15.821s] [ext: omni.isaac.motion_generation-4.5.5] startup [15.862s] [ext: omni.kit.browser.core-2.2.1] startup [15.886s] [ext: omni.isaac.synthetic_utils-0.4.2] startup [15.946s] [ext: omni.isaac.universal_robots-0.3.1] startup [15.950s] [ext: omni.kit.browser.folder.core-1.7.1] startup [15.975s] [ext: omni.isaac.urdf-0.5.4] startup 2023-08-08 15:55:59 [15,968ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription URDF Importer ********************* 2023-08-08 15:55:59 [15,969ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] URDF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [15,976ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter URDF ********************* 2023-08-08 15:55:59 [15,976ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [15,986ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka URDF ********************* 2023-08-08 15:55:59 [15,986ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,001ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya URDF ********************* 2023-08-08 15:55:59 [16,001ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,011ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 URDF ********************* 2023-08-08 15:55:59 [16,011ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [16.039s] [ext: omni.isaac.utils-0.2.3] startup 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3 ********************* 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5 ********************* 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 ********************* 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3e ********************* 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5e ********************* 2023-08-08 15:55:59 [16,029ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10e ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR16e ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR16e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 900 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 900 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 1300 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 1300 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Dofbot ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Dofbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription A1 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] A1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Go1 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Go1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Crazyflie ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Crazyflie uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Quadcopter ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Quadcopter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V1 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V2 ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V2 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetbot ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetracer ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetracer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Transporter ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Transporter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Flat Grid ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Flat Grid uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Grid Room ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Grid Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Simple Room ********************* 2023-08-08 15:55:59 [16,030ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Simple Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse With Multiple Shelves ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse With Multiple Shelves uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Full Warehouse ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Full Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Hospital ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Hospital uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Office ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Office uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription tag36h11 ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] tag36h11 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Allegro Hand ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Allegro Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Shadow Hand ********************* 2023-08-08 15:55:59 [16,031ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Shadow Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [16.051s] [ext: omni.kit.browser.sample-1.2.4] startup 2023-08-08 15:55:59 [16,037ms] [Error] [carb.scripting-python.plugin] FileNotFoundError: [Errno 2] No such file or directory: '/root/.nvidia-omniverse/config/omniverse.toml' At: /isaac-sim/kit/extscore/omni.kit.pip_archive/pip_prebundle/toml/decoder.py(133): load /isaac-sim/extscache/omni.kit.browser.folder.core-1.7.1/omni/kit/browser/folder/core/models/folder_browser_model.py(108): __init__ /isaac-sim/extscache/omni.kit.browser.folder.core-1.7.1/omni/kit/browser/folder/core/models/tree_folder_browser_model.py(16): __init__ /isaac-sim/extscache/omni.kit.browser.sample-1.2.4/omni/kit/browser/sample/model.py(20): __init__ /isaac-sim/extscache/omni.kit.browser.sample-1.2.4/omni/kit/browser/sample/extension.py(31): on_startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(146): _startup_ext /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(197): startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(280): startup_extension PythonExtension.cpp::startup()(2): /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(284): _start_app /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(169): __init__ /omnigibson-src/omnigibson/__init__.py(82): create_app /omnigibson-src/omnigibson/__init__.py(180): start /omnigibson-src/omnigibson/__init__.py(205): (219): _call_with_frames_removed (728): exec_module (677): _load_unlocked (967): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load /micromamba/envs/omnigibson/lib/python3.7/runpy.py(109): _get_module_details /micromamba/envs/omnigibson/lib/python3.7/runpy.py(183): _run_module_as_main 2023-08-08 15:55:59 [16,038ms] [Error] [omni.ext.plugin] [ext: omni.kit.browser.sample-1.2.4] Failed to startup python extension. [16.057s] [ext: omni.graph.scriptnode-0.9.3] startup [16.068s] [ext: omni.command.usd-1.0.1] startup [16.079s] [ext: omni.warp-0.6.1] startup Warp 0.6.1 initialized: CUDA Toolkit: 11.5, Driver: 12.0 Devices: "cpu" | x86_64 "cuda:0" | NVIDIA GeForce RTX 4090 (sm_89) Kernel cache: /root/.cache/warp/0.6.1 2023-08-08 15:55:59 [16,071ms] [Error] [carb.scripting-python.plugin] AttributeError: 'NoneType' object has no attribute 'get_model' At: /isaac-sim/extscache/omni.kit.browser.sample-1.2.4/omni/kit/browser/sample/extension.py(90): register_sample_folder /isaac-sim/extscache/omni.warp-0.6.1+cp37/omni/warp/scripts/extension.py(56): on_startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(146): _startup_ext /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(197): startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(280): startup_extension PythonExtension.cpp::startup()(2): /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(284): _start_app /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(169): __init__ /omnigibson-src/omnigibson/__init__.py(82): create_app /omnigibson-src/omnigibson/__init__.py(180): start /omnigibson-src/omnigibson/__init__.py(205): (219): _call_with_frames_removed (728): exec_module (677): _load_unlocked (967): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load /micromamba/envs/omnigibson/lib/python3.7/runpy.py(109): _get_module_details /micromamba/envs/omnigibson/lib/python3.7/runpy.py(183): _run_module_as_main 2023-08-08 15:55:59 [16,071ms] [Error] [omni.ext.plugin] [ext: omni.warp-0.6.1] Failed to startup python extension. WARNING: Attribute 'inputs:fps' description should not be empty WARNING: Attribute 'inputs:start' description should not be empty WARNING: Attribute 'inputs:end' description should not be empty WARNING: Attribute 'outputs:time' description should not be empty WARNING: Node description should not be empty WARNING: Attribute 'inputs:resolution' description should not be empty WARNING: Attribute 'inputs:speed' description should not be empty WARNING: Attribute 'inputs:damp' description should not be empty WARNING: Attribute 'inputs:grid' description should not be empty WARNING: Attribute 'inputs:collider_0' description should not be empty WARNING: Attribute 'inputs:collider_1' description should not be empty WARNING: Attribute 'inputs:collider_2' description should not be empty WARNING: Attribute 'inputs:collider_3' description should not be empty WARNING: Attribute 'inputs:buoyancy_enabled' description should not be empty WARNING: Attribute 'inputs:density_0' description should not be empty WARNING: Attribute 'inputs:density_1' description should not be empty WARNING: Attribute 'inputs:density_2' description should not be empty WARNING: Attribute 'inputs:density_3' description should not be empty WARNING: Attribute 'inputs:displace' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty WARNING: Attribute 'inputs:buoyancy' description should not be empty WARNING: Attribute 'inputs:buoyancy_damp' description should not be empty WARNING: Attribute 'inputs:delay' description should not be empty WARNING: Attribute 'outputs:vertices' description should not be empty WARNING: Attribute 'outputs:face_indices' description should not be empty WARNING: Attribute 'outputs:face_counts' description should not be empty WARNING: Attribute 'inputs:execIn' description should not be empty WARNING: Attribute 'inputs:sdf_min' description should not be empty WARNING: Attribute 'inputs:sdf_max' description should not be empty WARNING: Attribute 'inputs:spacing' description should not be empty WARNING: Attribute 'inputs:spacing_jitter' description should not be empty WARNING: Attribute 'inputs:velocity' description should not be empty WARNING: Attribute 'inputs:max_points' description should not be empty WARNING: Attribute 'inputs:collider_offset' description should not be empty WARNING: Attribute 'inputs:ground' description should not be empty WARNING: Attribute 'inputs:ground_plane' description should not be empty WARNING: Attribute 'inputs:density' description should not be empty WARNING: Attribute 'inputs:k_tri_elastic' description should not be empty WARNING: Attribute 'inputs:k_tri_area' description should not be empty WARNING: Attribute 'inputs:k_tri_damp' description should not be empty WARNING: Attribute 'inputs:k_edge_bend' description should not be empty WARNING: Attribute 'inputs:k_edge_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_elastic' description should not be empty WARNING: Attribute 'inputs:k_contact_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_friction' description should not be empty WARNING: Attribute 'inputs:k_contact_mu' description should not be empty WARNING: Attribute 'inputs:num_substeps' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty WARNING: Attribute 'inputs:mass' description should not be empty WARNING: Attribute 'inputs:radius' description should not be empty WARNING: Attribute 'inputs:k_contact_elastic' description should not be empty WARNING: Attribute 'inputs:k_contact_damp' description should not be empty WARNING: Attribute 'inputs:k_contact_friction' description should not be empty WARNING: Attribute 'inputs:k_contact_mu' description should not be empty WARNING: Attribute 'inputs:k_contact_cohesion' description should not be empty WARNING: Attribute 'inputs:k_contact_adhesion' description should not be empty WARNING: Attribute 'inputs:num_substeps' description should not be empty WARNING: Attribute 'inputs:gravity' description should not be empty WARNING: Attribute 'inputs:ground' description should not be empty WARNING: Attribute 'inputs:ground_plane' description should not be empty WARNING: Attribute 'inputs:asynchronous' description should not be empty [16.491s] [ext: omni.kit.widget.live_session_management-1.1.3] startup [16.505s] [ext: omni.kit.hotkeys.core-1.0.8] startup [16.525s] [ext: omni.replicator.core-1.6.4] startup 2023-08-08 15:56:00 [16,999ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [17.333s] [ext: omni.kit.widget.highlight_label-1.0.0] startup [17.337s] [ext: omni.kit.widget.layers-1.6.9] startup [17.594s] [ext: omni.isaac.core_nodes-0.21.0] startup [17.651s] [ext: omni.kit.actions.window-1.1.0] startup [17.668s] [ext: omni.isaac.debug_draw-0.2.2] startup [17.678s] [ext: omni.kit.property.layer-1.1.3] startup [17.689s] [ext: omni.isaac.wheeled_robots-0.6.1] startup [17.782s] [ext: omni.kit.hotkeys.window-1.1.3] startup [17.813s] [ext: omni.isaac.occupancy_map-0.2.6] startup 2023-08-08 15:56:01 [17,810ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Occupancy Map ********************* 2023-08-08 15:56:01 [17,810ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Occupancy Map uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:01 [17,821ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Block World Generator ********************* 2023-08-08 15:56:01 [17,821ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Block World Generator uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [17.843s] [ext: omni.kit.property.audio-1.0.6] startup [17.850s] [ext: omni.kit.property.camera-1.0.3] startup [17.856s] [ext: omni.kit.property.geometry-1.2.2] startup [17.867s] [ext: omni.kit.widget.stage_icons-1.0.2] startup [17.874s] [ext: omni.kit.property.light-1.0.6] startup [17.879s] [ext: omni.kit.property.material-1.8.16] startup [17.896s] [ext: omni.hydra.scene_api-0.1.1] startup [17.907s] [ext: omni.kit.window.stage-2.3.11] startup [17.919s] [ext: omni.kit.property.render-1.1.0] startup [17.923s] [ext: omni.kit.property.skel-1.0.1] startup [17.931s] [ext: omni.kit.property.transform-1.3.4] startup [17.959s] [ext: omni.kit.menu.stage-1.2.1] startup [17.964s] [ext: omni.kit.manipulator.transform-104.6.11] startup [17.975s] [ext: omni.kit.profiler.window-2.0.4] startup [18.494s] [ext: omni.kit.property.bundle-1.2.6] startup [18.499s] [ext: omni.kit.manipulator.selector-1.0.1] startup [18.505s] [ext: omni.kit.manipulator.tool.snap-1.2.2] startup [18.542s] [ext: omni.kit.window.toolbar-1.3.3] startup [18.574s] [ext: omni.kit.property.isaac-0.1.1] startup [18.580s] [ext: omni.kit.stage_column.payload-1.0.8] startup [18.588s] [ext: omni.kit.manipulator.camera-104.0.22] startup [18.589s] [ext: omni.kit.manipulator.prim-104.10.5] startup [18.627s] [ext: omni.kit.manipulator.selection-104.0.6] startup [18.628s] [ext: omni.kit.viewport.menubar.camera-104.1.7] startup [18.649s] [ext: omni.kit.viewport.menubar.render-104.0.19] startup [18.661s] [ext: omni.kit.viewport.menubar.display-104.1.11] startup [18.670s] [ext: omni.physx.commands-104.1.6-5.1] startup [18.693s] [ext: omni.kit.viewport.menubar.settings-104.3.4] startup [18.719s] [ext: omni.rtx.window.settings-0.6.2] startup [18.738s] [ext: omni.kit.stage_column.variant-1.0.9] startup [18.745s] [ext: omni.physx.ui-104.1.6-5.1] startup [18.866s] [ext: omni.kit.viewport.bundle-104.0.2] startup [18.866s] [ext: omni.hydra.pxr.settings-1.0.3] startup [18.871s] [ext: omni.kit.viewport.menubar.lighting-104.0.8] startup [18.884s] [ext: omni.kit.property.physx-0.1.0] startup [19.007s] [ext: omni.physx.demos-104.1.6-5.1] startup [19.020s] [ext: omni.kit.viewport.pxr-104.0.1] startup [19.020s] [ext: omni.kit.viewport.ready-1.0.2] startup [19.023s] [ext: omni.kit.viewport.rtx-104.0.0] startup [19.023s] [ext: omni.physx.camera-104.1.6-5.1] startup [19.040s] [ext: omni.kit.selection-0.1.0] startup [19.045s] [ext: omni.physx.cct-104.1.6-5.1] startup [19.786s] [ext: omni.physx.supportui-104.1.6-5.1] startup [20.008s] [ext: omni.kit.widget.live-2.0.3] startup 2023-08-08 15:56:03 [19,996ms] [Warning] [omni.kit.widget.live.cache_state_menu] Unable to detect Omniverse Cache Server. File /root/.nvidia-omniverse/config/omniverse.toml is not found. Consider installing it for better IO performance. [20.016s] [ext: omni.physx.vehicle-104.1.6-5.1] startup [20.066s] [ext: omni.kit.menu.edit-1.1.5] startup 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Grid Visibility ********************* 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Grid Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Camera Visibility ********************* 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Camera Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Light Visibility ********************* 2023-08-08 15:56:03 [20,057ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Light Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [20.077s] [ext: omni.kit.window.commands-0.2.4] startup [20.085s] [ext: omni.kit.window.console-0.2.3] startup [20.103s] [ext: omni.physx.bundle-104.1.6-5.1] startup [20.103s] [ext: omni.graph.bundle.action-1.3.0] startup [20.103s] [ext: omni.isaac.range_sensor-0.7.0] startup 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic ********************* 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Array ********************* 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Array uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Emitter ********************* 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Emitter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription FiringGroup ********************* 2023-08-08 15:56:03 [20,097ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] FiringGroup uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,100ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription LIDAR ********************* 2023-08-08 15:56:03 [20,100ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] LIDAR uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,111ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Ultrasonic ********************* 2023-08-08 15:56:03 [20,111ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Ultrasonic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:03 [20,122ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic Range Sensor ********************* 2023-08-08 15:56:03 [20,122ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic Range Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [20.164s] [ext: omni.kit.window.script_editor-1.6.4] startup [20.177s] [ext: omni.kit.window.status_bar-0.1.5] startup [20.184s] [ext: omni.kit.window.title-1.1.2] startup [20.187s] [ext: omni.replicator.composer-1.2.2] startup [20.199s] [ext: omni.replicator.isaac-1.7.3] startup [20.291s] [ext: omni.isaac.kit-1.2.1] startup [20.292s] [ext: omni.isaac.sensor-5.3.1] startup 2023-08-08 15:56:04 [20,273ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.3.1] Native plugin search dir contains several files: /isaac-sim/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact Sensor ********************* 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Imu Sensor ********************* 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Imu Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Solid State ********************* 2023-08-08 15:56:04 [20,390ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Solid State uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:04 [20,411ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact ********************* 2023-08-08 15:56:04 [20,411ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 15:56:04 [20,413ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription IMU ********************* 2023-08-08 15:56:04 [20,413ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] IMU uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [20.447s] [ext: omni.isaac.franka-0.4.0] startup [20.452s] [ext: omni.resourcemonitor-1.0.0] startup [20.466s] [ext: omni.rtx.settings.core-0.5.8] startup [20.485s] [ext: semantics.schema.editor-0.3.2] startup [20.497s] [ext: omni.kit.menu.file-1.1.3] startup [20.503s] [ext: omni.isaac.quadruped-1.2.2] startup [21.516s] [ext: omni.isaac.cortex-0.2.10] startup [21.516s] [ext: omni.graph.window.action-1.4.0] startup 2023-08-08 15:56:05 [21,502ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Action Graph ********************* 2023-08-08 15:56:05 [21,502ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Action Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [21.522s] [ext: omni.kit.window.stats-0.1.2] startup [21.527s] [ext: omni.isaac.sim.python-2022.2.0] startup [21.529s] Simulation App Starting [25.256s] [ext: omni.isaac.sim.python-2022.2.0] shutdown [25.257s] [ext: omni.isaac.universal_robots-0.3.1] shutdown [25.263s] [ext: omni.isaac.cortex-0.2.10] shutdown [25.264s] [ext: omni.isaac.franka-0.4.0] shutdown [25.264s] [ext: omni.isaac.manipulators-1.1.0] shutdown [25.265s] [ext: omni.isaac.surface_gripper-0.3.2] shutdown [25.498s] [ext: omni.isaac.wheeled_robots-0.6.1] shutdown [25.518s] [ext: omni.isaac.surface_gripper-0.3.2] startup 2023-08-08 15:56:09 [25,500ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Surface Gripper ********************* 2023-08-08 15:56:09 [25,500ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Surface Gripper uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [25.521s] [ext: omni.isaac.manipulators-1.1.0] startup [25.522s] [ext: omni.isaac.universal_robots-0.3.1] startup [25.522s] [ext: omni.isaac.wheeled_robots-0.6.1] startup [25.525s] [ext: omni.isaac.franka-0.4.0] startup [25.526s] [ext: omni.isaac.cortex-0.2.10] startup [25.526s] [ext: omni.isaac.sim.python-2022.2.0] startup 2023-08-08 15:56:42 [58,547ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 30 seconds so far 2023-08-08 15:57:12 [88,548ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 60 seconds so far 2023-08-08 15:57:42 [118,550ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 90 seconds so far 2023-08-08 15:58:12 [148,551ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 120 seconds so far 2023-08-08 15:58:42 [178,551ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 150 seconds so far 2023-08-08 15:59:12 [208,552ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 180 seconds so far 2023-08-08 15:59:42 [238,553ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 210 seconds so far 2023-08-08 15:59:59 [255,727ms] [Warning] [gpu.foundation.plugin] Ray tracing shader compilation finished after 227 seconds [268.143s] app ready [269.049s] RTX ready [269.051s] RTX ready [269.327s] Simulation App Startup Complete [269.371s] [ext: omni.usd.schema.flow-104.1.6] startup [269.374s] [ext: omni.vdb_timesample_editor-0.1.4] startup [269.388s] [ext: omni.slangnode-104.1.9] startup [269.409s] [ext: omni.flowusd-104.1.9] startup [269.669s] [ext: omni.scene.visualization.core-104.2.2] startup [269.687s] [ext: omni.ramp-104.1.3] startup [269.703s] [ext: omni.particle.system.core-104.7.18] startup [269.759s] [ext: omni.particle.system.ui-104.4.12] startup [269.898s] [ext: omni.graph.window.particle.system-104.5.2] startup [269.959s] [ext: omni.particle.system.bundle-104.2.24] startup 2023-08-08 16:00:23 [279,860ms] [Warning] [carb.flatcache.plugin] UsdRelationship /Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0.orderedVars has multiple targets, which is not supported ____________ / / \ / / /__ / / / /\ /__________/ /__/ \ \ _____ \ \__\ / \ \ / \ \ \_/ / \ \/___\ \ / \__________\_/ ___ _ ____ _ _ / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| [INFO] [omnigibson] ---------- Welcome to OmniGibson! ---------- [INFO] [omnigibson] Demo /omnigibson-src/omnigibson/examples/environments/behavior_env_demo.py ******************************************************************************** Description: Generates a BEHAVIOR Task environment in an online fashion. It steps the environment 100 times with random actions sampled from the action space, using the Gym interface, resetting it 10 times. ******************************************************************************** Here is a list of available online object samplings: [1] False: Use a pre-sampled cached BEHAVIOR activity scene [2] True: Sample the BEHAVIOR activity in an online fashion Choose a online object sampling (enter a number from 1 to 2): 1 [INFO] [omnigibson.utils.asset_utils] Scene name: Benevolence_1_int [INFO] [omnigibson.scenes.traversable_scene] TraversableScene model: Benevolence_1_int [INFO] [omnigibson.objects.object_base] Loaded skybox at /World/skybox [INFO] [omnigibson.maps.traversable_map] Loading traversable graph [INFO] [omnigibson.objects.object_base] Loaded dust_template at /World/dust/template 2023-08-08 16:02:19 [395,774ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 30 seconds so far 2023-08-08 16:02:49 [425,775ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 60 seconds so far 2023-08-08 16:03:19 [455,775ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 90 seconds so far 2023-08-08 16:03:49 [485,776ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 120 seconds so far 2023-08-08 16:04:19 [515,776ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 150 seconds so far 2023-08-08 16:04:49 [545,777ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 180 seconds so far 2023-08-08 16:05:19 [575,778ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 210 seconds so far 2023-08-08 16:05:49 [605,780ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 240 seconds so far 2023-08-08 16:06:19 [635,781ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 270 seconds so far 2023-08-08 16:06:49 [665,781ms] [Warning] [gpu.foundation.plugin] Waiting for compilation of ray tracing shaders by GPU driver: 300 seconds so far 2023-08-08 16:06:57 [673,708ms] [Warning] [gpu.foundation.plugin] Ray tracing shader compilation finished after 307 seconds [INFO] [omnigibson.objects.object_base] Loaded cooked_breadcrumb_template at /World/cooked_breadcrumb/template [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_idnnmz_0 at /World/breakfast_table_idnnmz_0 [INFO] [omnigibson.objects.object_base] Loaded cedar_chest_fwstpx_0 at /World/cedar_chest_fwstpx_0 [INFO] [omnigibson.objects.object_base] Loaded cedar_chest_fwstpx_1 at /World/cedar_chest_fwstpx_1 [INFO] [omnigibson.objects.object_base] Loaded console_table_emeeke_0 at /World/console_table_emeeke_0 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_0 at /World/floor_lamp_vdxlda_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_njwsoa_0 at /World/shelf_njwsoa_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_0 at /World/shelf_owvfik_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_1 at /World/shelf_owvfik_1 [INFO] [omnigibson.objects.object_base] Loaded sofa_uixwiv_0 at /World/sofa_uixwiv_0 [INFO] [omnigibson.objects.object_base] Loaded ottoman_miftfy_0 at /World/ottoman_miftfy_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_eospnr_0 at /World/straight_chair_eospnr_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_pmpwwi_0 at /World/straight_chair_pmpwwi_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_pmpwwi_1 at /World/straight_chair_pmpwwi_1 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_pmpwwi_2 at /World/straight_chair_pmpwwi_2 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_qudfwe_0 at /World/bottom_cabinet_no_top_qudfwe_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_spojpj_0 at /World/bottom_cabinet_no_top_spojpj_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_ufhpbn_0 at /World/bottom_cabinet_no_top_ufhpbn_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_ufhpbn_1 at /World/bottom_cabinet_no_top_ufhpbn_1 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_vzzafs_0 at /World/bottom_cabinet_no_top_vzzafs_0 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_0 at /World/carpet_ctclvd_0 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_0 at /World/countertop_tpuwys_0 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_1 at /World/countertop_tpuwys_1 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_2 at /World/countertop_tpuwys_2 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_3 at /World/countertop_tpuwys_3 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_4 at /World/countertop_tpuwys_4 [INFO] [omnigibson.objects.object_base] Loaded dishwasher_dngvvi_0 at /World/dishwasher_dngvvi_0 [INFO] [omnigibson.objects.object_base] Loaded door_ktydvs_0 at /World/door_ktydvs_0 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_0 at /World/door_lvgliq_0 [INFO] [omnigibson.objects.object_base] Loaded door_ohagsq_0 at /World/door_ohagsq_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_0 at /World/electric_switch_wseglt_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_1 at /World/electric_switch_wseglt_1 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_2 at /World/electric_switch_wseglt_2 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_3 at /World/electric_switch_wseglt_3 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_4 at /World/electric_switch_wseglt_4 [INFO] [omnigibson.objects.object_base] Loaded fridge_xyejdx_0 at /World/fridge_xyejdx_0 [INFO] [omnigibson.objects.object_base] Loaded microwave_bfbeeb_0 at /World/microwave_bfbeeb_0 [INFO] [omnigibson.objects.object_base] Loaded oven_wuinhm_0 at /World/oven_wuinhm_0 [INFO] [omnigibson.objects.object_base] Loaded picture_etixod_0 at /World/picture_etixod_0 [INFO] [omnigibson.objects.object_base] Loaded picture_hhxttu_0 at /World/picture_hhxttu_0 [INFO] [omnigibson.objects.object_base] Loaded picture_lucjyq_0 at /World/picture_lucjyq_0 [INFO] [omnigibson.objects.object_base] Loaded picture_rciuob_0 at /World/picture_rciuob_0 [INFO] [omnigibson.objects.object_base] Loaded picture_tlwjpv_0 at /World/picture_tlwjpv_0 [INFO] [omnigibson.objects.object_base] Loaded picture_zsirgc_0 at /World/picture_zsirgc_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_2 at /World/shelf_owvfik_2 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_3 at /World/shelf_owvfik_3 [INFO] [omnigibson.objects.object_base] Loaded shelf_vgzdul_0 at /World/shelf_vgzdul_0 [INFO] [omnigibson.objects.object_base] Loaded sink_czyfhq_0 at /World/sink_czyfhq_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_0 at /World/top_cabinet_dmwxyl_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_1 at /World/top_cabinet_dmwxyl_1 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_2 at /World/top_cabinet_dmwxyl_2 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_eobsmt_0 at /World/top_cabinet_eobsmt_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_eobsmt_1 at /World/top_cabinet_eobsmt_1 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_eobsmt_2 at /World/top_cabinet_eobsmt_2 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_0 at /World/top_cabinet_lsyzkh_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_1 at /World/top_cabinet_lsyzkh_1 [INFO] [omnigibson.objects.object_base] Loaded wall_mounted_tv_ylvjhb_0 at /World/wall_mounted_tv_ylvjhb_0 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_0 at /World/window_ulnafj_0 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_1 at /World/window_ulnafj_1 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_2 at /World/window_ulnafj_2 [INFO] [omnigibson.objects.object_base] Loaded ceilings_axfptw_0 at /World/ceilings_axfptw_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_dofmgw_0 at /World/ceilings_dofmgw_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_dtjmrf_0 at /World/ceilings_dtjmrf_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_gblyms_0 at /World/ceilings_gblyms_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_wdxynv_0 at /World/ceilings_wdxynv_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_yrqbbo_0 at /World/ceilings_yrqbbo_0 [INFO] [omnigibson.objects.object_base] Loaded floors_buiarh_0 at /World/floors_buiarh_0 [INFO] [omnigibson.objects.object_base] Loaded floors_cjvouw_0 at /World/floors_cjvouw_0 [INFO] [omnigibson.objects.object_base] Loaded floors_dpjzuo_0 at /World/floors_dpjzuo_0 [INFO] [omnigibson.objects.object_base] Loaded floors_gabzai_0 at /World/floors_gabzai_0 [INFO] [omnigibson.objects.object_base] Loaded floors_vfhjsg_0 at /World/floors_vfhjsg_0 [INFO] [omnigibson.objects.object_base] Loaded floors_ylloew_0 at /World/floors_ylloew_0 [INFO] [omnigibson.objects.object_base] Loaded walls_beqqbw_0 at /World/walls_beqqbw_0 [INFO] [omnigibson.objects.object_base] Loaded walls_cufcke_0 at /World/walls_cufcke_0 [INFO] [omnigibson.objects.object_base] Loaded walls_cxcmht_0 at /World/walls_cxcmht_0 [INFO] [omnigibson.objects.object_base] Loaded walls_etttgp_0 at /World/walls_etttgp_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ewecsu_0 at /World/walls_ewecsu_0 [INFO] [omnigibson.objects.object_base] Loaded walls_gitxjr_0 at /World/walls_gitxjr_0 [INFO] [omnigibson.objects.object_base] Loaded walls_kgxnls_0 at /World/walls_kgxnls_0 [INFO] [omnigibson.objects.object_base] Loaded walls_nfprcv_0 at /World/walls_nfprcv_0 [INFO] [omnigibson.objects.object_base] Loaded walls_nsqgzs_0 at /World/walls_nsqgzs_0 [INFO] [omnigibson.objects.object_base] Loaded walls_qwfvng_0 at /World/walls_qwfvng_0 [INFO] [omnigibson.objects.object_base] Loaded walls_qysmts_0 at /World/walls_qysmts_0 [INFO] [omnigibson.objects.object_base] Loaded walls_smskuw_0 at /World/walls_smskuw_0 [INFO] [omnigibson.objects.object_base] Loaded walls_vvlnbk_0 at /World/walls_vvlnbk_0 [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:estop_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:laser_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:torso_lift_link:collisions [INFO] [omnigibson.objects.object_base] Loaded robot0 at /World/robot0 [INFO] [omnigibson.objects.controllable_object] Control frequency is None - being set to default of 1 / render_timestep: 60.0000 [INFO] [omnigibson.objects.object_base] Loaded chopping_board_85 at /World/chopping_board_85 [INFO] [omnigibson.objects.object_base] Loaded liquid_soap_bottle_86 at /World/liquid_soap_bottle_86 [WARNING] [omnigibson.systems.micro_particle_system] The generated cloth may not have evenly distributed particles. [INFO] [omnigibson.objects.object_base] Loaded rag_87 at /World/rag_87 2023-08-08 16:09:18 [814,566ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,568ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,569ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,570ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,571ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_dngvvi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,572ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,574ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,575ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,576ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,577ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:18 [814,579ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,914ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,914ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,915ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,915ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,915ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_dngvvi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,916ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,916ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,916ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,916ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,917ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:20 [816,917ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 [INFO] [omnigibson.simulator] Imported scene. 2023-08-08 16:09:22 [818,202ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,203ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,203ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,203ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,204ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_dngvvi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,204ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,204ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,204ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,205ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,205ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,205ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,509ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,511ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,512ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,513ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,514ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_dngvvi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,515ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,516ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,517ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,518ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,519ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:22 [818,520ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,970ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,971ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,971ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,971ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,972ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_dngvvi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,972ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,972ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,973ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,973ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,973ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:09:23 [819,973ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 Traceback (most recent call last): File "/micromamba/envs/omnigibson/lib/python3.7/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/micromamba/envs/omnigibson/lib/python3.7/runpy.py", line 85, in _run_code exec(code, run_globals) File "/omnigibson-src/omnigibson/examples/environments/behavior_env_demo.py", line 57, in main() File "/omnigibson-src/omnigibson/examples/environments/behavior_env_demo.py", line 35, in main env = og.Environment(configs=cfg) File "/omnigibson-src/omnigibson/utils/python_utils.py", line 90, in wrapper func(*values.args, **values.kwargs) File "/omnigibson-src/omnigibson/envs/env_base.py", line 81, in __init__ self.load() File "/omnigibson-src/omnigibson/envs/env_base.py", line 318, in load self.reset() File "/omnigibson-src/omnigibson/envs/env_base.py", line 433, in reset self.task.reset(self) File "/omnigibson-src/omnigibson/tasks/task_base.py", line 174, in reset self._reset_scene(env) File "/omnigibson-src/omnigibson/tasks/task_base.py", line 142, in _reset_scene env.scene.reset() File "/omnigibson-src/omnigibson/scenes/scene_base.py", line 471, in reset self.load_state(self._initial_state) File "/omnigibson-src/omnigibson/utils/python_utils.py", line 551, in load_state self._load_state(state=state) File "/omnigibson-src/omnigibson/scenes/scene_base.py", line 644, in _load_state self._registry.load_state(state=state, serialized=False) File "/omnigibson-src/omnigibson/utils/python_utils.py", line 551, in load_state self._load_state(state=state) File "/omnigibson-src/omnigibson/utils/registry_utils.py", line 342, in _load_state obj.load_state(state[obj.name], serialized=False) File "/omnigibson-src/omnigibson/utils/python_utils.py", line 551, in load_state self._load_state(state=state) File "/omnigibson-src/omnigibson/utils/registry_utils.py", line 342, in _load_state obj.load_state(state[obj.name], serialized=False) File "/omnigibson-src/omnigibson/utils/python_utils.py", line 551, in load_state self._load_state(state=state) File "/omnigibson-src/omnigibson/objects/stateful_object.py", line 480, in _load_state super()._load_state(state=state) File "/omnigibson-src/omnigibson/prims/entity_prim.py", line 1360, in _load_state self.root_link._load_state(state=state["root_link"]) File "/omnigibson-src/omnigibson/prims/cloth_prim.py", line 544, in _load_state setattr(self, attr_name, attr_val) File "/omnigibson-src/omnigibson/prims/cloth_prim.py", line 270, in particle_velocities f"Got mismatch in particle setting size: {vel.shape[0]}, vs. number of particles {self._n_particles}!" AssertionError: Got mismatch in particle setting size: 13356, vs. number of particles 13338! 2023-08-08 16:09:24 [820,493ms] [Error] [omni.kit.manipulator.prim.model] Traceback (most recent call last): File "/isaac-sim/kit/extscore/omni.kit.manipulator.prim/omni/kit/manipulator/prim/model.py", line 1492, in _update_transform_from_prims_async pivot_prim_path = self._pivot_prim.GetPath() AttributeError: 'NoneType' object has no attribute 'GetPath' [INFO] [omnigibson] ---------- Shutting Down OmniGibson ---------- [821.909s] Simulation App Shutting Down ```

Note there are extra errors in the middle of the log:

``` [16.051s] [ext: omni.kit.browser.sample-1.2.4] startup 2023-08-08 15:55:59 [16,037ms] [Error] [carb.scripting-python.plugin] FileNotFoundError: [Errno 2] No such file or directory: '/root/.nvidia-omniverse/config/omniverse.toml' At: /isaac-sim/kit/extscore/omni.kit.pip_archive/pip_prebundle/toml/decoder.py(133): load /isaac-sim/extscache/omni.kit.browser.folder.core-1.7.1/omni/kit/browser/folder/core/models/folder_browser_model.py(108): __init__ /isaac-sim/extscache/omni.kit.browser.folder.core-1.7.1/omni/kit/browser/folder/core/models/tree_folder_browser_model.py(16): __init__ /isaac-sim/extscache/omni.kit.browser.sample-1.2.4/omni/kit/browser/sample/model.py(20): __init__ /isaac-sim/extscache/omni.kit.browser.sample-1.2.4/omni/kit/browser/sample/extension.py(31): on_startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(146): _startup_ext /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(197): startup /isaac-sim/kit/kernel/py/omni/ext/_impl/_internal.py(280): startup_extension PythonExtension.cpp::startup()(2): /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(284): _start_app /isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py(169): __init__ /omnigibson-src/omnigibson/__init__.py(82): create_app /omnigibson-src/omnigibson/__init__.py(180): start /omnigibson-src/omnigibson/__init__.py(205): (219): _call_with_frames_removed (728): exec_module (677): _load_unlocked (967): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load (219): _call_with_frames_removed (953): _find_and_load_unlocked (983): _find_and_load /micromamba/envs/omnigibson/lib/python3.7/runpy.py(109): _get_module_details /micromamba/envs/omnigibson/lib/python3.7/runpy.py(183): _run_module_as_main 2023-08-08 15:55:59 [16,038ms] [Error] [omni.ext.plugin] [ext: omni.kit.browser.sample-1.2.4] Failed to startup python extension. ```

scene_model: Beechwood_0_int

activity_name: make_a_salad

git diff

``` (omnigibson) root@geralt:/omnigibson-src# git diff diff --git a/omnigibson/configs/fetch_behavior.yaml b/omnigibson/configs/fetch_behavior.yaml index 84da35e3..f4fca79d 100644 --- a/omnigibson/configs/fetch_behavior.yaml +++ b/omnigibson/configs/fetch_behavior.yaml @@ -7,7 +7,7 @@ render: scene: type: InteractiveTraversableScene - scene_model: Rs_int + scene_model: Beechwood_0_int trav_map_resolution: 0.1 trav_map_erosion: 2 trav_map_with_objects: true @@ -50,7 +50,7 @@ objects: [] task: type: BehaviorTask - activity_name: prepare_sea_salt_soak + activity_name: make_a_salad activity_definition_id: 0 activity_instance_id: 0 predefined_problem: null diff --git a/omnigibson/macros.py b/omnigibson/macros.py index 6538479e..fe76b9a6 100644 --- a/omnigibson/macros.py +++ b/omnigibson/macros.py @@ -40,7 +40,7 @@ gm.SHOW_DISCLAIMERS = False # Whether to use omni's GPU dynamics # This is necessary for certain features; e.g. particles (fluids / cloth) -gm.USE_GPU_DYNAMICS = False +gm.USE_GPU_DYNAMICS = True # Whether to use high-fidelity rendering (this includes, e.g., isosurfaces) gm.ENABLE_HQ_RENDERING = False ```

console output

``` (omnigibson) root@geralt:/omnigibson-src# python -m omnigibson.examples.environments.behavior_env_demo [INFO] [omnigibson] ---------- Starting OmniGibson ---------- [Warning] [omni.isaac.kit.simulation_app] Modules: ['omnigibson', 'omnigibson.macros', 'omni', 'omni.kit.app._impl.telemetry_helpers'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Starting kit application with the following args: ['/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/isaac-sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/isaac-sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--ext-folder', '/isaac-sim/exts', '--ext-folder', '/isaac-sim/apps', '--/physics/cudaDevice=0', '--portable', '--allow-root'] Passing the following args to the base kit application: [] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230808_161211.log 2023-08-08 16:12:11 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar/config' 2023-08-08 16:12:11 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.radar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.radar/config' [0.291s] [ext: omni.stats-0.0.0] startup [0.340s] [ext: omni.rtx.shadercache-1.0.0] startup [0.346s] [ext: omni.assets.plugins-0.0.0] startup [0.348s] [ext: omni.gpu_foundation-0.0.0] startup 2023-08-08 16:12:11 [338ms] [Warning] [carb] FrameworkImpl::setDefaultPlugin(client: omni.gpu_foundation_factory.plugin, desc : [carb::graphics::Graphics v2.11], plugin : carb.graphics-vulkan.plugin) failed. Plugin selection is locked, because the interface was previously acquired by: [0.360s] [ext: carb.windowing.plugins-1.0.0] startup 2023-08-08 16:12:12 [967ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Microsoft Natural® Ergonomic Keyboard 4000 [030000005e040000db00000011010000] [0.984s] [ext: omni.kit.renderer.init-0.0.0] startup |---------------------------------------------------------------------------------------------| | Driver Version: 525.125.6 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | | | | | | | 2684 | 4b710849.. | |=============================================================================================| | OS: Linux geralt, Version: 6.2.0-26-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4) | Processor: Intel(R) Xeon(R) CPU E5-2690 v4 @ 2.60GHz | Cores: Unknown | Logical: 56 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 128771 | Free Memory: 105660 | Total Page/Swap (MB): 1951 | Free Page/Swap: 1951 |---------------------------------------------------------------------------------------------| [3.141s] [ext: omni.kit.pipapi-0.0.0] startup [3.166s] [ext: omni.kit.pip_archive-0.0.0] startup [3.190s] [ext: omni.kit.loop-isaac-1.0.0] startup [3.192s] [ext: omni.kit.async_engine-0.0.0] startup [3.195s] [ext: omni.kit.test-0.0.0] startup [3.457s] [ext: omni.usd.config-1.0.0] startup [3.467s] [ext: omni.usd.libs-1.0.0] startup [3.674s] [ext: omni.isaac.core_archive-2.0.1] startup [3.883s] [ext: omni.pip.torch-1_13_0-0.1.4] startup [3.890s] [ext: omni.isaac.ml_archive-1.1.0] startup [4.039s] [ext: omni.client-0.1.1] startup [4.057s] [ext: omni.appwindow-1.0.1] startup [4.063s] [ext: omni.kit.renderer.core-0.0.0] startup [4.132s] [ext: omni.kit.renderer.capture-0.0.0] startup [4.141s] [ext: omni.kit.renderer.imgui-0.0.0] startup [4.313s] [ext: carb.audio-0.1.0] startup [4.318s] [ext: omni.ui-2.12.23] startup [4.343s] [ext: omni.uiaudio-1.0.0] startup [4.347s] [ext: omni.kit.mainwindow-1.0.0] startup [4.352s] [ext: omni.kit.uiapp-0.0.0] startup [4.352s] [ext: omni.usd.schema.physics-1.0.0] startup [4.438s] [ext: omni.usd.schema.omniscripting-1.0.0] startup [4.455s] [ext: omni.usd.schema.audio-0.0.0] startup [4.469s] [ext: omni.usd.schema.semantics-0.0.0] startup [4.489s] [ext: omni.usd.schema.anim-0.0.0] startup [4.629s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [4.643s] [ext: omni.usd.schema.geospatial-0.0.0] startup [4.659s] [ext: omni.usd.core-1.0.0] startup [4.663s] [ext: omni.gpucompute.plugins-0.0.0] startup [4.663s] [ext: omni.timeline-1.0.5] startup [4.669s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [4.673s] [ext: omni.hydra.usdrt_delegate-4.1.1] startup [4.693s] [ext: omni.kit.window.popup_dialog-2.0.15] startup [4.706s] [ext: omni.kit.actions.core-1.0.0] startup [4.711s] [ext: omni.kit.widget.nucleus_connector-1.0.2] startup [4.719s] [ext: omni.kit.commands-1.4.5] startup [4.729s] [ext: omni.hydra.scene_delegate-0.3.0] startup [4.736s] [ext: omni.usd-1.6.23] startup [4.811s] [ext: omni.kit.asset_converter-1.2.39] startup [4.832s] [ext: omni.usd.schema.physx-0.0.0] startup [4.920s] [ext: omni.usd.schema.isaac-1.0.0] startup [4.949s] [ext: omni.usd.schema.forcefield-0.0.0] startup [4.963s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup [4.968s] [ext: omni.inspect-1.0.1] startup [4.976s] [ext: omni.kit.menu.utils-1.4.7] startup [4.996s] [ext: omni.kit.usd.layers-2.0.10] startup [5.010s] [ext: omni.graph.core-2.64.7] startup [5.014s] [ext: omni.iray.libs-0.0.0] startup [5.020s] [ext: omni.kit.primitive.mesh-1.0.6] startup [5.029s] [ext: omni.volume-0.1.0] startup [5.034s] [ext: omni.mdl.neuraylib-0.1.0] startup [5.040s] [ext: omni.kit.stage_templates-1.1.11] startup [5.045s] [ext: omni.graph.tools-1.17.0] startup [5.088s] [ext: omni.hydra.rtx-0.1.0] startup [5.099s] [ext: omni.kit.usd_undo-0.1.1] startup [5.103s] [ext: omni.ui.scene-1.5.17] startup [5.117s] [ext: omni.graph-1.50.1] startup [5.200s] [ext: omni.debugdraw-0.1.1] startup [5.210s] [ext: omni.hydra.engine.stats-1.0.0] startup [5.222s] [ext: omni.kit.search_core-1.0.1] startup [5.227s] [ext: omni.kit.widget.path_field-2.0.4] startup [5.230s] [ext: omni.kit.widget.versioning-1.3.8] startup [5.235s] [ext: omni.kit.widget.filebrowser-2.3.8] startup [5.268s] [ext: omni.kit.widget.browser_bar-2.0.4] startup [5.270s] [ext: omni.kit.notification_manager-1.0.4] startup [5.285s] [ext: omni.kvdb-0.0.0] startup [5.292s] [ext: omni.kit.window.filepicker-2.7.8] startup OmniAssetFileFormat [5.389s] [ext: omni.kit.viewport.registry-104.0.2] startup [5.395s] [ext: omni.kit.window.file_importer-1.0.8] startup [5.397s] [ext: omni.hydra.pxr-1.1.2] startup [5.402s] [ext: omni.mdl-0.1.0] startup [5.438s] [ext: omni.kit.clipboard-1.0.0] startup [5.440s] [ext: omni.activity.core-1.0.1] startup [5.447s] [ext: omni.kit.hydra_texture-1.0.11] startup [5.459s] [ext: omni.kit.material.library-1.3.21] startup [5.473s] [ext: omni.kit.menu.create-1.0.8] startup [5.475s] [ext: omni.kit.window.drop_support-1.0.1] startup [5.477s] [ext: omni.kit.widget.viewport-104.1.15] startup [5.482s] [ext: omni.kit.viewport.legacy_gizmos-1.0.8] startup [5.486s] [ext: omni.kit.context_menu-1.5.10] startup [5.494s] [ext: omni.kit.viewport.window-104.1.18] startup [5.544s] [ext: omni.localcache-0.0.0] startup [5.550s] [ext: omni.kit.window.viewport-0.0.0] startup [7.531s] [ext: omni.convexdecomposition-104.1.6-5.1] startup [7.546s] [ext: omni.kit.viewport.utility-1.0.12] startup [7.549s] [ext: omni.kit.window.file_exporter-1.0.10] startup [7.555s] [ext: omni.ui_query-1.1.1] startup [7.564s] [ext: omni.kit.window.file-1.3.30] startup [7.576s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup [7.579s] [ext: omni.kit.ui_test-1.2.9] startup [7.677s] [ext: omni.kit.window.property-1.8.2] startup [7.682s] [ext: omni.kit.window.content_browser-2.6.5] startup [7.733s] [ext: omni.kit.widget.stage-2.7.18] startup [7.743s] [ext: omni.usdphysics-104.1.6-5.1] startup [7.747s] [ext: omni.kit.property.usd-3.18.12] startup [7.769s] [ext: omni.physx-104.1.6-5.1] startup [7.840s] [ext: omni.kit.widget.settings-1.0.1] startup [7.843s] [ext: omni.kit.widget.graph-1.5.3] startup [7.925s] [ext: omni.kit.widget.text_editor-1.0.2] startup [7.928s] [ext: omni.kit.window.preferences-1.3.7] startup [8.039s] [ext: omni.kit.window.extensions-1.1.1] startup [8.052s] [ext: omni.kit.widget.prompt-1.0.4] startup [8.054s] [ext: omni.physics.tensors-0.1.0] startup [8.070s] [ext: omni.graph.ui-1.24.1] startup [8.150s] [ext: omni.isaac.version-1.0.0] startup [8.152s] [ext: omni.physx.tensors-0.1.0] startup [8.169s] [ext: omni.graph.action-1.31.0] startup [8.186s] [ext: omni.kit.numpy.common-0.1.0] startup [8.191s] [ext: omni.kit.graph.delegate.default-1.0.18] startup [8.197s] [ext: omni.kit.widget.searchfield-1.0.8] startup [8.201s] [ext: omni.isaac.dynamic_control-1.2.2] startup [8.218s] [ext: omni.kit.manipulator.viewport-104.0.7] startup [8.220s] [ext: omni.kit.graph.editor.core-1.4.7] startup [8.226s] [ext: omni.isaac.core-1.42.0] startup [9.866s] [ext: omni.graph.visualization.nodes-2.0.0] startup [9.878s] [ext: omni.kit.graph.widget.variables-2.0.4] startup [9.881s] [ext: omni.isaac.ui-0.4.3] startup [9.886s] [ext: omni.isaac.isaac_sensor-2.0.0] startup 2023-08-08 16:12:20 [9,870ms] [Warning] [omni.isaac.isaac_sensor] omni.isaac.isaac_sensor is deprecated and was renamed; use omni.isaac.sensor [9.887s] [ext: omni.isaac.surface_gripper-0.3.2] startup 2023-08-08 16:12:20 [9,875ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Surface Gripper ********************* 2023-08-08 16:12:20 [9,875ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Surface Gripper uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.897s] [ext: omni.kit.graph.usd.commands-1.2.0] startup [9.899s] [ext: omni.kit.graph.delegate.modern-1.6.4] startup [9.902s] [ext: omni.isaac.manipulators-1.1.0] startup [9.905s] [ext: omni.graph.window.core-1.41.0] startup [9.925s] [ext: omni.isaac.mjcf-0.3.0] startup 2023-08-08 16:12:21 [9,917ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription MJCF Importer ********************* 2023-08-08 16:12:21 [9,917ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] MJCF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.936s] [ext: omni.graph.window.generic-1.3.10] startup 2023-08-08 16:12:21 [9,921ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Push Graph ********************* 2023-08-08 16:12:21 [9,921ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Push Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [9,921ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Lazy Graph ********************* 2023-08-08 16:12:21 [9,921ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Lazy Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.938s] [ext: omni.kit.widget.spinner-1.0.4] startup [9.941s] [ext: omni.kit.window.cursor-1.1.1] startup [9.943s] [ext: omni.isaac.lula-1.2.1] startup [9.964s] [ext: omni.graph.nodes-1.48.3] startup [9.984s] [ext: omni.kit.viewport.menubar.core-104.4.1] startup [10.023s] [ext: omni.isaac.motion_planning-0.2.1] startup [10.043s] [ext: omni.kit.widget.zoombar-1.0.4] startup [10.045s] [ext: omni.syntheticdata-0.2.4] startup 2023-08-08 16:12:21 [10,054ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path [10.079s] [ext: omni.isaac.motion_generation-4.5.5] startup [10.091s] [ext: omni.kit.browser.core-2.2.1] startup [10.101s] [ext: omni.isaac.synthetic_utils-0.4.2] startup [10.123s] [ext: omni.isaac.universal_robots-0.3.1] startup [10.125s] [ext: omni.kit.browser.folder.core-1.7.1] startup [10.137s] [ext: omni.isaac.urdf-0.5.4] startup 2023-08-08 16:12:21 [10,128ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription URDF Importer ********************* 2023-08-08 16:12:21 [10,128ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] URDF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,130ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter URDF ********************* 2023-08-08 16:12:21 [10,131ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,138ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka URDF ********************* 2023-08-08 16:12:21 [10,138ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,146ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya URDF ********************* 2023-08-08 16:12:21 [10,146ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,155ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 URDF ********************* 2023-08-08 16:12:21 [10,155ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [10.180s] [ext: omni.isaac.utils-0.2.3] startup 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3 ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5 ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3e ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5e ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10e ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR16e ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR16e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 900 ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 900 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 1300 ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 1300 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Dofbot ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Dofbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka ********************* 2023-08-08 16:12:21 [10,168ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription A1 ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] A1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Go1 ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Go1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Crazyflie ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Crazyflie uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Quadcopter ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Quadcopter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V1 ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V2 ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V2 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetbot ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetracer ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetracer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Transporter ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Transporter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Flat Grid ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Flat Grid uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Grid Room ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Grid Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Simple Room ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Simple Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse ********************* 2023-08-08 16:12:21 [10,169ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse With Multiple Shelves ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse With Multiple Shelves uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Full Warehouse ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Full Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Hospital ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Hospital uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Office ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Office uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription tag36h11 ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] tag36h11 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Allegro Hand ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Allegro Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Shadow Hand ********************* 2023-08-08 16:12:21 [10,170ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Shadow Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [10.188s] [ext: omni.kit.browser.sample-1.2.4] startup [10.191s] [ext: omni.graph.scriptnode-0.9.3] startup [10.195s] [ext: omni.command.usd-1.0.1] startup [10.201s] [ext: omni.warp-0.6.1] startup Warp 0.6.1 initialized: CUDA Toolkit: 11.5, Driver: 12.0 Devices: "cpu" | x86_64 "cuda:0" | NVIDIA GeForce RTX 4090 (sm_89) Kernel cache: /root/.cache/warp/0.6.1 [10.613s] [ext: omni.kit.widget.live_session_management-1.1.3] startup [10.618s] [ext: omni.kit.hotkeys.core-1.0.8] startup [10.631s] [ext: omni.replicator.core-1.6.4] startup 2023-08-08 16:12:21 [10,844ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [10.948s] [ext: omni.kit.widget.highlight_label-1.0.0] startup [10.950s] [ext: omni.kit.widget.layers-1.6.9] startup [10.974s] [ext: omni.isaac.core_nodes-0.21.0] startup [11.003s] [ext: omni.kit.actions.window-1.1.0] startup [11.012s] [ext: omni.isaac.debug_draw-0.2.2] startup [11.022s] [ext: omni.kit.property.layer-1.1.3] startup [11.027s] [ext: omni.isaac.wheeled_robots-0.6.1] startup [11.057s] [ext: omni.kit.hotkeys.window-1.1.3] startup [11.067s] [ext: omni.isaac.occupancy_map-0.2.6] startup 2023-08-08 16:12:22 [11,060ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Occupancy Map ********************* 2023-08-08 16:12:22 [11,060ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Occupancy Map uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:22 [11,068ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Block World Generator ********************* 2023-08-08 16:12:22 [11,068ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Block World Generator uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [11.088s] [ext: omni.kit.property.audio-1.0.6] startup [11.091s] [ext: omni.kit.property.camera-1.0.3] startup [11.093s] [ext: omni.kit.property.geometry-1.2.2] startup [11.097s] [ext: omni.kit.widget.stage_icons-1.0.2] startup [11.100s] [ext: omni.kit.property.light-1.0.6] startup [11.103s] [ext: omni.kit.property.material-1.8.16] startup [11.109s] [ext: omni.hydra.scene_api-0.1.1] startup [11.119s] [ext: omni.kit.window.stage-2.3.11] startup [11.126s] [ext: omni.kit.property.render-1.1.0] startup [11.128s] [ext: omni.kit.property.skel-1.0.1] startup [11.131s] [ext: omni.kit.property.transform-1.3.4] startup [11.138s] [ext: omni.kit.menu.stage-1.2.1] startup [11.140s] [ext: omni.kit.manipulator.transform-104.6.11] startup [11.147s] [ext: omni.kit.profiler.window-2.0.4] startup [11.520s] [ext: omni.kit.property.bundle-1.2.6] startup [11.523s] [ext: omni.kit.manipulator.selector-1.0.1] startup [11.525s] [ext: omni.kit.manipulator.tool.snap-1.2.2] startup [11.535s] [ext: omni.kit.window.toolbar-1.3.3] startup [11.549s] [ext: omni.kit.property.isaac-0.1.1] startup [11.552s] [ext: omni.kit.stage_column.payload-1.0.8] startup [11.556s] [ext: omni.kit.manipulator.camera-104.0.22] startup [11.556s] [ext: omni.kit.manipulator.prim-104.10.5] startup [11.565s] [ext: omni.kit.manipulator.selection-104.0.6] startup [11.565s] [ext: omni.kit.viewport.menubar.camera-104.1.7] startup [11.573s] [ext: omni.kit.viewport.menubar.render-104.0.19] startup [11.577s] [ext: omni.kit.viewport.menubar.display-104.1.11] startup [11.580s] [ext: omni.physx.commands-104.1.6-5.1] startup [11.588s] [ext: omni.kit.viewport.menubar.settings-104.3.4] startup [11.596s] [ext: omni.rtx.window.settings-0.6.2] startup [11.606s] [ext: omni.kit.stage_column.variant-1.0.9] startup [11.609s] [ext: omni.physx.ui-104.1.6-5.1] startup [11.694s] [ext: omni.kit.viewport.bundle-104.0.2] startup [11.694s] [ext: omni.hydra.pxr.settings-1.0.3] startup [11.696s] [ext: omni.kit.viewport.menubar.lighting-104.0.8] startup [11.701s] [ext: omni.kit.property.physx-0.1.0] startup [11.805s] [ext: omni.physx.demos-104.1.6-5.1] startup [11.812s] [ext: omni.kit.viewport.pxr-104.0.1] startup [11.812s] [ext: omni.kit.viewport.ready-1.0.2] startup [11.814s] [ext: omni.kit.viewport.rtx-104.0.0] startup [11.814s] [ext: omni.physx.camera-104.1.6-5.1] startup [11.828s] [ext: omni.kit.selection-0.1.0] startup [11.831s] [ext: omni.physx.cct-104.1.6-5.1] startup [12.485s] [ext: omni.physx.supportui-104.1.6-5.1] startup [12.658s] [ext: omni.kit.widget.live-2.0.3] startup 2023-08-08 16:12:23 [12,644ms] [Warning] [omni.kit.widget.live.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [12.661s] [ext: omni.physx.vehicle-104.1.6-5.1] startup [12.682s] [ext: omni.kit.menu.edit-1.1.5] startup 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Grid Visibility ********************* 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Grid Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Camera Visibility ********************* 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Camera Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Light Visibility ********************* 2023-08-08 16:12:23 [12,668ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Light Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [12.686s] [ext: omni.kit.window.commands-0.2.4] startup [12.848s] [ext: omni.kit.window.console-0.2.3] startup [12.866s] [ext: omni.physx.bundle-104.1.6-5.1] startup [12.866s] [ext: omni.graph.bundle.action-1.3.0] startup [12.867s] [ext: omni.isaac.range_sensor-0.7.0] startup 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic ********************* 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Array ********************* 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Array uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Emitter ********************* 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Emitter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription FiringGroup ********************* 2023-08-08 16:12:23 [12,860ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] FiringGroup uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,861ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription LIDAR ********************* 2023-08-08 16:12:23 [12,861ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] LIDAR uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,872ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Ultrasonic ********************* 2023-08-08 16:12:23 [12,872ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Ultrasonic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:23 [12,883ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic Range Sensor ********************* 2023-08-08 16:12:23 [12,883ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic Range Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [12.916s] [ext: omni.kit.window.script_editor-1.6.4] startup [12.928s] [ext: omni.kit.window.status_bar-0.1.5] startup [12.934s] [ext: omni.kit.window.title-1.1.2] startup [12.936s] [ext: omni.replicator.composer-1.2.2] startup [12.940s] [ext: omni.replicator.isaac-1.7.3] startup [12.974s] [ext: omni.isaac.kit-1.2.1] startup [12.975s] [ext: omni.isaac.sensor-5.3.1] startup 2023-08-08 16:12:24 [12,958ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.3.1] Native plugin search dir contains several files: /isaac-sim/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact Sensor ********************* 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Imu Sensor ********************* 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Imu Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Solid State ********************* 2023-08-08 16:12:24 [13,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Solid State uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:24 [13,067ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact ********************* 2023-08-08 16:12:24 [13,067ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:12:24 [13,068ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription IMU ********************* 2023-08-08 16:12:24 [13,068ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] IMU uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [13.093s] [ext: omni.isaac.franka-0.4.0] startup [13.095s] [ext: omni.resourcemonitor-1.0.0] startup [13.109s] [ext: omni.rtx.settings.core-0.5.8] startup [13.117s] [ext: semantics.schema.editor-0.3.2] startup [13.125s] [ext: omni.kit.menu.file-1.1.3] startup [13.128s] [ext: omni.isaac.quadruped-1.2.2] startup [13.400s] [ext: omni.isaac.cortex-0.2.10] startup [13.400s] [ext: omni.graph.window.action-1.4.0] startup 2023-08-08 16:12:24 [13,385ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Action Graph ********************* 2023-08-08 16:12:24 [13,385ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Action Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [13.403s] [ext: omni.kit.window.stats-0.1.2] startup [13.405s] [ext: omni.isaac.sim.python-2022.2.0] startup [13.407s] Simulation App Starting [18.294s] app ready [18.749s] RTX ready [18.749s] RTX ready [18.950s] Simulation App Startup Complete [18.987s] [ext: omni.usd.schema.flow-104.1.6] startup [18.990s] [ext: omni.vdb_timesample_editor-0.1.4] startup [18.997s] [ext: omni.slangnode-104.1.9] startup [19.008s] [ext: omni.flowusd-104.1.9] startup [19.215s] [ext: omni.scene.visualization.core-104.2.2] startup [19.232s] [ext: omni.ramp-104.1.3] startup [19.239s] [ext: omni.particle.system.core-104.7.18] startup [19.260s] [ext: omni.particle.system.ui-104.4.12] startup [19.393s] [ext: omni.graph.window.particle.system-104.5.2] startup [19.446s] [ext: omni.particle.system.bundle-104.2.24] startup 2023-08-08 16:12:34 [23,264ms] [Warning] [carb.flatcache.plugin] UsdRelationship /Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0.orderedVars has multiple targets, which is not supported ____________ / / \ / / /__ / / / /\ /__________/ /__/ \ \ _____ \ \__\ / \ \ / \ \ \_/ / \ \/___\ \ / \__________\_/ ___ _ ____ _ _ / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| [INFO] [omnigibson] ---------- Welcome to OmniGibson! ---------- [INFO] [omnigibson] Demo /omnigibson-src/omnigibson/examples/environments/behavior_env_demo.py ******************************************************************************** Description: Generates a BEHAVIOR Task environment in an online fashion. It steps the environment 100 times with random actions sampled from the action space, using the Gym interface, resetting it 10 times. ******************************************************************************** Here is a list of available online object samplings: [1] False: Use a pre-sampled cached BEHAVIOR activity scene [2] True: Sample the BEHAVIOR activity in an online fashion Choose a online object sampling (enter a number from 1 to 2): 1 [INFO] [omnigibson.utils.asset_utils] Scene name: Beechwood_0_int [INFO] [omnigibson.scenes.traversable_scene] TraversableScene model: Beechwood_0_int [INFO] [omnigibson.objects.object_base] Loaded skybox at /World/skybox [INFO] [omnigibson.maps.traversable_map] Loading traversable graph [INFO] [omnigibson.objects.object_base] Loaded chickpea_template at /World/chickpea/template [INFO] [omnigibson.objects.object_base] Loaded salt_template at /World/salt/template [INFO] [omnigibson.objects.object_base] Loaded crouton_template at /World/crouton/template [INFO] [omnigibson.objects.object_base] Loaded armchair_bslhmj_0 at /World/armchair_bslhmj_0 [INFO] [omnigibson.objects.object_base] Loaded armchair_vzhxuf_0 at /World/armchair_vzhxuf_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_qacthv_0 at /World/bottom_cabinet_qacthv_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_dnsjnv_0 at /World/breakfast_table_dnsjnv_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_0 at /World/breakfast_table_skczfi_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_1 at /World/breakfast_table_skczfi_1 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_2 at /World/breakfast_table_skczfi_2 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_uhrsex_0 at /World/breakfast_table_uhrsex_0 [INFO] [omnigibson.objects.object_base] Loaded cedar_chest_fwstpx_0 at /World/cedar_chest_fwstpx_0 [INFO] [omnigibson.objects.object_base] Loaded coffee_table_qlmqyy_0 at /World/coffee_table_qlmqyy_0 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_jcbvfi_0 at /World/floor_lamp_jcbvfi_0 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_0 at /World/floor_lamp_vdxlda_0 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_1 at /World/floor_lamp_vdxlda_1 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_2 at /World/floor_lamp_vdxlda_2 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_3 at /World/floor_lamp_vdxlda_3 [INFO] [omnigibson.objects.object_base] Loaded piano_bnxcvw_0 at /World/piano_bnxcvw_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_0 at /World/shelf_owvfik_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_1 at /World/shelf_owvfik_1 [INFO] [omnigibson.objects.object_base] Loaded ottoman_miftfy_0 at /World/ottoman_miftfy_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_amgwaw_0 at /World/straight_chair_amgwaw_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_0 at /World/straight_chair_dmcixv_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_1 at /World/straight_chair_dmcixv_1 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_2 at /World/straight_chair_dmcixv_2 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_3 at /World/straight_chair_dmcixv_3 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_4 at /World/straight_chair_dmcixv_4 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_dmcixv_5 at /World/straight_chair_dmcixv_5 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_vkgbbl_0 at /World/straight_chair_vkgbbl_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_vkgbbl_1 at /World/straight_chair_vkgbbl_1 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_vkgbbl_2 at /World/straight_chair_vkgbbl_2 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_vkgbbl_3 at /World/straight_chair_vkgbbl_3 [INFO] [omnigibson.objects.object_base] Loaded swivel_chair_qtqitn_0 at /World/swivel_chair_qtqitn_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_immwzb_0 at /World/bottom_cabinet_immwzb_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_immwzb_1 at /World/bottom_cabinet_immwzb_1 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_nddvba_0 at /World/bottom_cabinet_nddvba_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_rvpunw_0 at /World/bottom_cabinet_rvpunw_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_slgzfc_0 at /World/bottom_cabinet_slgzfc_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_qohxjq_0 at /World/bottom_cabinet_no_top_qohxjq_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_qohxjq_1 at /World/bottom_cabinet_no_top_qohxjq_1 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_qudfwe_0 at /World/bottom_cabinet_no_top_qudfwe_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_spojpj_0 at /World/bottom_cabinet_no_top_spojpj_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_spojpj_1 at /World/bottom_cabinet_no_top_spojpj_1 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_spojpj_2 at /World/bottom_cabinet_no_top_spojpj_2 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_no_top_ufhpbn_0 at /World/bottom_cabinet_no_top_ufhpbn_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_3 at /World/breakfast_table_skczfi_3 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_4 at /World/breakfast_table_skczfi_4 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_5 at /World/breakfast_table_skczfi_5 [INFO] [omnigibson.objects.object_base] Loaded burner_pmntxh_0 at /World/burner_pmntxh_0 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_0 at /World/carpet_ctclvd_0 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_1. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_1. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_1. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_1. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_1 at /World/carpet_ctclvd_1 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_2. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_2. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_2. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_2. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_2 at /World/carpet_ctclvd_2 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_3. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_3. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_3. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_3. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_3 at /World/carpet_ctclvd_3 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_4. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_4. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_4. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_4. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_4 at /World/carpet_ctclvd_4 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_0 at /World/countertop_tpuwys_0 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_1 at /World/countertop_tpuwys_1 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_2 at /World/countertop_tpuwys_2 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_3 at /World/countertop_tpuwys_3 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_4 at /World/countertop_tpuwys_4 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_5 at /World/countertop_tpuwys_5 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_6 at /World/countertop_tpuwys_6 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_7 at /World/countertop_tpuwys_7 [INFO] [omnigibson.objects.object_base] Loaded dishwasher_znfvmj_0 at /World/dishwasher_znfvmj_0 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_0 at /World/door_lvgliq_0 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_1 at /World/door_lvgliq_1 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_2 at /World/door_lvgliq_2 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_3 at /World/door_lvgliq_3 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_4 at /World/door_lvgliq_4 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_5 at /World/door_lvgliq_5 [INFO] [omnigibson.objects.object_base] Loaded door_ohagsq_0 at /World/door_ohagsq_0 [INFO] [omnigibson.objects.object_base] Loaded door_ohagsq_1 at /World/door_ohagsq_1 [INFO] [omnigibson.objects.object_base] Loaded door_ohagsq_2 at /World/door_ohagsq_2 [INFO] [omnigibson.objects.object_base] Loaded clothes_dryer_zlmnfg_0 at /World/clothes_dryer_zlmnfg_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_0 at /World/electric_switch_wseglt_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_1 at /World/electric_switch_wseglt_1 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_10 at /World/electric_switch_wseglt_10 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_11 at /World/electric_switch_wseglt_11 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_12 at /World/electric_switch_wseglt_12 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_2 at /World/electric_switch_wseglt_2 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_3 at /World/electric_switch_wseglt_3 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_4 at /World/electric_switch_wseglt_4 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_5 at /World/electric_switch_wseglt_5 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_6 at /World/electric_switch_wseglt_6 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_7 at /World/electric_switch_wseglt_7 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_8 at /World/electric_switch_wseglt_8 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_9 at /World/electric_switch_wseglt_9 [INFO] [omnigibson.objects.object_base] Loaded fridge_dszchb_0 at /World/fridge_dszchb_0 [INFO] [omnigibson.objects.object_base] Loaded microwave_bfbeeb_0 at /World/microwave_bfbeeb_0 [INFO] [omnigibson.objects.object_base] Loaded mirror_pevdqu_0 at /World/mirror_pevdqu_0 [INFO] [omnigibson.objects.object_base] Loaded oven_wuinhm_0 at /World/oven_wuinhm_0 [INFO] [omnigibson.objects.object_base] Loaded picture_fanvpf_0 at /World/picture_fanvpf_0 [INFO] [omnigibson.objects.object_base] Loaded picture_hhxttu_0 at /World/picture_hhxttu_0 [INFO] [omnigibson.objects.object_base] Loaded picture_lucjyq_0 at /World/picture_lucjyq_0 [INFO] [omnigibson.objects.object_base] Loaded picture_qjkajj_0 at /World/picture_qjkajj_0 [INFO] [omnigibson.objects.object_base] Loaded picture_qtvjzk_0 at /World/picture_qtvjzk_0 [INFO] [omnigibson.objects.object_base] Loaded picture_wfdvzv_0 at /World/picture_wfdvzv_0 [INFO] [omnigibson.objects.object_base] Loaded rail_fence_qmsnld_0 at /World/rail_fence_qmsnld_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_njwsoa_0 at /World/shelf_njwsoa_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_2 at /World/shelf_owvfik_2 [INFO] [omnigibson.objects.object_base] Loaded shelf_vgzdul_0 at /World/shelf_vgzdul_0 [INFO] [omnigibson.objects.object_base] Loaded sink_czyfhq_0 at /World/sink_czyfhq_0 [INFO] [omnigibson.objects.object_base] Loaded sink_ksecxq_0 at /World/sink_ksecxq_0 [INFO] [omnigibson.objects.object_base] Loaded sink_zexzrc_0 at /World/sink_zexzrc_0 [INFO] [omnigibson.objects.object_base] Loaded sofa_xhxdqf_0 at /World/sofa_xhxdqf_0 [INFO] [omnigibson.objects.object_base] Loaded toilet_kfmkbm_0 at /World/toilet_kfmkbm_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_0 at /World/top_cabinet_dmwxyl_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_1 at /World/top_cabinet_dmwxyl_1 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_2 at /World/top_cabinet_dmwxyl_2 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_dmwxyl_3 at /World/top_cabinet_dmwxyl_3 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_fqhdne_0 at /World/top_cabinet_fqhdne_0 [INFO] [omnigibson.objects.object_base] Loaded towel_rack_kqrmrh_0 at /World/towel_rack_kqrmrh_0 [INFO] [omnigibson.objects.object_base] Loaded wall_mounted_tv_ylvjhb_0 at /World/wall_mounted_tv_ylvjhb_0 [INFO] [omnigibson.objects.object_base] Loaded washer_omeuop_0 at /World/washer_omeuop_0 [INFO] [omnigibson.objects.object_base] Loaded window_ithrgo_0 at /World/window_ithrgo_0 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_0 at /World/window_ulnafj_0 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_1 at /World/window_ulnafj_1 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_10 at /World/window_ulnafj_10 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_11 at /World/window_ulnafj_11 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_2 at /World/window_ulnafj_2 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_3 at /World/window_ulnafj_3 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_4 at /World/window_ulnafj_4 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_5 at /World/window_ulnafj_5 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_6 at /World/window_ulnafj_6 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_7 at /World/window_ulnafj_7 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_8 at /World/window_ulnafj_8 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_9 at /World/window_ulnafj_9 [INFO] [omnigibson.objects.object_base] Loaded ceilings_ayfjzo_0 at /World/ceilings_ayfjzo_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_gdodun_0 at /World/ceilings_gdodun_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_gljdaz_0 at /World/ceilings_gljdaz_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_hzdavr_0 at /World/ceilings_hzdavr_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_kjpzku_0 at /World/ceilings_kjpzku_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_nkohbh_0 at /World/ceilings_nkohbh_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_rlsnwq_0 at /World/ceilings_rlsnwq_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_trhqld_0 at /World/ceilings_trhqld_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_uahaxk_0 at /World/ceilings_uahaxk_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_vjiuwu_0 at /World/ceilings_vjiuwu_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_xqauyk_0 at /World/ceilings_xqauyk_0 [INFO] [omnigibson.objects.object_base] Loaded floors_dclqap_0 at /World/floors_dclqap_0 [INFO] [omnigibson.objects.object_base] Loaded floors_gjpvfd_0 at /World/floors_gjpvfd_0 [INFO] [omnigibson.objects.object_base] Loaded floors_jiafyw_0 at /World/floors_jiafyw_0 [INFO] [omnigibson.objects.object_base] Loaded floors_jniagb_0 at /World/floors_jniagb_0 [INFO] [omnigibson.objects.object_base] Loaded floors_kxqtap_0 at /World/floors_kxqtap_0 [INFO] [omnigibson.objects.object_base] Loaded floors_ljbnpd_0 at /World/floors_ljbnpd_0 [INFO] [omnigibson.objects.object_base] Loaded floors_mknpoc_0 at /World/floors_mknpoc_0 [INFO] [omnigibson.objects.object_base] Loaded floors_pmlwwl_0 at /World/floors_pmlwwl_0 [INFO] [omnigibson.objects.object_base] Loaded floors_qhfsxw_0 at /World/floors_qhfsxw_0 [INFO] [omnigibson.objects.object_base] Loaded floors_qtdpcm_0 at /World/floors_qtdpcm_0 [INFO] [omnigibson.objects.object_base] Loaded floors_sktjer_0 at /World/floors_sktjer_0 [INFO] [omnigibson.objects.object_base] Loaded walls_adqmpz_0 at /World/walls_adqmpz_0 [INFO] [omnigibson.objects.object_base] Loaded walls_bdxwvm_0 at /World/walls_bdxwvm_0 [INFO] [omnigibson.objects.object_base] Loaded walls_bqdrep_0 at /World/walls_bqdrep_0 [INFO] [omnigibson.objects.object_base] Loaded walls_bvtxbv_0 at /World/walls_bvtxbv_0 [INFO] [omnigibson.objects.object_base] Loaded walls_cesukw_0 at /World/walls_cesukw_0 [INFO] [omnigibson.objects.object_base] Loaded walls_cyflyo_0 at /World/walls_cyflyo_0 [INFO] [omnigibson.objects.object_base] Loaded walls_dfnqnk_0 at /World/walls_dfnqnk_0 [INFO] [omnigibson.objects.object_base] Loaded walls_dthtvd_0 at /World/walls_dthtvd_0 [INFO] [omnigibson.objects.object_base] Loaded walls_dzlwbx_0 at /World/walls_dzlwbx_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ejzliv_0 at /World/walls_ejzliv_0 [INFO] [omnigibson.objects.object_base] Loaded walls_eyalcx_0 at /World/walls_eyalcx_0 [INFO] [omnigibson.objects.object_base] Loaded walls_fxibmi_0 at /World/walls_fxibmi_0 [INFO] [omnigibson.objects.object_base] Loaded walls_hfwelb_0 at /World/walls_hfwelb_0 [INFO] [omnigibson.objects.object_base] Loaded walls_hosciu_0 at /World/walls_hosciu_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ifhuaw_0 at /World/walls_ifhuaw_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ioxzum_0 at /World/walls_ioxzum_0 [INFO] [omnigibson.objects.object_base] Loaded walls_iwipoh_0 at /World/walls_iwipoh_0 [INFO] [omnigibson.objects.object_base] Loaded walls_jukzkm_0 at /World/walls_jukzkm_0 [INFO] [omnigibson.objects.object_base] Loaded walls_kvmewy_0 at /World/walls_kvmewy_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ljngkt_0 at /World/walls_ljngkt_0 [INFO] [omnigibson.objects.object_base] Loaded walls_nthwqa_0 at /World/walls_nthwqa_0 [INFO] [omnigibson.objects.object_base] Loaded walls_nvtvxi_0 at /World/walls_nvtvxi_0 [INFO] [omnigibson.objects.object_base] Loaded walls_odbsjx_0 at /World/walls_odbsjx_0 [INFO] [omnigibson.objects.object_base] Loaded walls_prkntu_0 at /World/walls_prkntu_0 [INFO] [omnigibson.objects.object_base] Loaded walls_qannys_0 at /World/walls_qannys_0 [INFO] [omnigibson.objects.object_base] Loaded walls_qcqpyi_0 at /World/walls_qcqpyi_0 [INFO] [omnigibson.objects.object_base] Loaded walls_qyejch_0 at /World/walls_qyejch_0 [INFO] [omnigibson.objects.object_base] Loaded walls_rvvbvi_0 at /World/walls_rvvbvi_0 [INFO] [omnigibson.objects.object_base] Loaded walls_szxayl_0 at /World/walls_szxayl_0 [INFO] [omnigibson.objects.object_base] Loaded walls_tjfjwe_0 at /World/walls_tjfjwe_0 [INFO] [omnigibson.objects.object_base] Loaded walls_tmpzcd_0 at /World/walls_tmpzcd_0 [INFO] [omnigibson.objects.object_base] Loaded walls_tsyvvt_0 at /World/walls_tsyvvt_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ucsylc_0 at /World/walls_ucsylc_0 [INFO] [omnigibson.objects.object_base] Loaded walls_ugemkf_0 at /World/walls_ugemkf_0 [INFO] [omnigibson.objects.object_base] Loaded walls_uwsqqu_0 at /World/walls_uwsqqu_0 [INFO] [omnigibson.objects.object_base] Loaded walls_vdzmpj_0 at /World/walls_vdzmpj_0 [INFO] [omnigibson.objects.object_base] Loaded walls_xamxbe_0 at /World/walls_xamxbe_0 [INFO] [omnigibson.objects.object_base] Loaded walls_yeodqe_0 at /World/walls_yeodqe_0 [INFO] [omnigibson.objects.object_base] Loaded walls_yjbruo_0 at /World/walls_yjbruo_0 [INFO] [omnigibson.objects.object_base] Loaded walls_yrcjvs_0 at /World/walls_yrcjvs_0 [INFO] [omnigibson.objects.object_base] Loaded walls_zoonsb_0 at /World/walls_zoonsb_0 [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:estop_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:laser_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:torso_lift_link:collisions [INFO] [omnigibson.objects.object_base] Loaded robot0 at /World/robot0 [INFO] [omnigibson.objects.controllable_object] Control frequency is None - being set to default of 1 / render_timestep: 60.0000 [INFO] [omnigibson.objects.object_base] Loaded bowl_188 at /World/bowl_188 [INFO] [omnigibson.objects.object_base] Loaded lettuce_189 at /World/lettuce_189 [INFO] [omnigibson.objects.object_base] Loaded spinach_190 at /World/spinach_190 [INFO] [omnigibson.objects.object_base] Loaded cucumber_191 at /World/cucumber_191 [INFO] [omnigibson.objects.object_base] Loaded chickpea_can_192 at /World/chickpea_can_192 [INFO] [omnigibson.objects.object_base] Loaded avocado_193 at /World/avocado_193 [INFO] [omnigibson.objects.object_base] Loaded vinegar_bottle_194 at /World/vinegar_bottle_194 [INFO] [omnigibson.objects.object_base] Loaded salt_shaker_195 at /World/salt_shaker_195 [INFO] [omnigibson.objects.object_base] Loaded tupperware_196 at /World/tupperware_196 [INFO] [omnigibson.objects.object_base] Loaded chopping_board_197 at /World/chopping_board_197 [INFO] [omnigibson.objects.object_base] Loaded carving_knife_198 at /World/carving_knife_198 2023-08-08 16:18:39 [388,388ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_zexzrc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,390ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,391ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,393ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_9/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,394ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,395ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_8/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,397ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/burner_pmntxh_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,398ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_7/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,399ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,400ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,402ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,403ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_jcbvfi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,404ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,406ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_5/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,407ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,408ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_11/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,409ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_12/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,411ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,412ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,413ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_ksecxq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,415ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_znfvmj_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,416ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,418ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,419ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_10/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,420ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/clothes_dryer_zlmnfg_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,421ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_6/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,423ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:39 [388,424ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/washer_omeuop_0/togglebutton_0_0_link/mesh_0 [WARNING] [omnigibson.utils.registry_utils] Object 'water' is not in the state dict to load from. Skip loading its state. 2023-08-08 16:18:42 [391,467ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_zexzrc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,468ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,468ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,468ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_9/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,468ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,469ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_8/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,469ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/burner_pmntxh_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,469ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_7/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,469ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,470ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,470ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,470ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_jcbvfi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,471ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,471ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_5/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,471ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,471ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_11/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,472ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_12/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,472ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,472ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,472ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_ksecxq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,473ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_znfvmj_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,473ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,473ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,473ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_10/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,474ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/clothes_dryer_zlmnfg_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,474ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_6/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,474ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:42 [391,474ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/washer_omeuop_0/togglebutton_0_0_link/mesh_0 [INFO] [omnigibson.simulator] Imported scene. 2023-08-08 16:18:45 [394,389ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_zexzrc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,389ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,390ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/wall_mounted_tv_ylvjhb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,390ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_9/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,390ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,390ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_8/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,391ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/burner_pmntxh_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,391ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_7/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,391ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,392ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,392ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,392ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_jcbvfi_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,392ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,393ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_5/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,393ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,393ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_11/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,393ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_12/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,394ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,394ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,394ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_ksecxq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,394ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_znfvmj_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,395ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_bfbeeb_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,395ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_czyfhq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,395ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_10/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,396ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/clothes_dryer_zlmnfg_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,396ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_6/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,396ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:18:45 [394,396ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/washer_omeuop_0/togglebutton_0_0_link/mesh_0 Segmentation fault (core dumped) ```

scene_model: Rs_int

activity_name: prepare_sea_salt_soak

git diff

``` (omnigibson) root@geralt:/omnigibson-src# git diff diff --git a/omnigibson/examples/environments/behavior_env_demo.py b/omnigibson/examples/environments/behavior_env_demo.py index fffbf876..9cd379db 100644 --- a/omnigibson/examples/environments/behavior_env_demo.py +++ b/omnigibson/examples/environments/behavior_env_demo.py @@ -54,4 +54,4 @@ def main(random_selection=False, headless=False, short_exec=False): if __name__ == "__main__": - main() + main(short_exec=True) diff --git a/omnigibson/macros.py b/omnigibson/macros.py index 6538479e..fe76b9a6 100644 --- a/omnigibson/macros.py +++ b/omnigibson/macros.py @@ -40,7 +40,7 @@ gm.SHOW_DISCLAIMERS = False # Whether to use omni's GPU dynamics # This is necessary for certain features; e.g. particles (fluids / cloth) -gm.USE_GPU_DYNAMICS = False +gm.USE_GPU_DYNAMICS = True # Whether to use high-fidelity rendering (this includes, e.g., isosurfaces) gm.ENABLE_HQ_RENDERING = False ```

console output

``` (omnigibson) root@geralt:/omnigibson-src# python -m omnigibson.examples.environments.behavior_env_demo [INFO] [omnigibson] ---------- Starting OmniGibson ---------- [Warning] [omni.isaac.kit.simulation_app] Modules: ['omnigibson', 'omnigibson.macros', 'omni', 'omni.kit.app._impl.telemetry_helpers'] were loaded before SimulationApp was started and might not be loaded correctly. [Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...) Starting kit application with the following args: ['/isaac-sim/exts/omni.isaac.kit/omni/isaac/kit/simulation_app.py', '/isaac-sim/apps/omni.isaac.sim.python.kit', '--/app/tokens/exe-path=/isaac-sim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True--/omni.kit.plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--ext-folder', '/isaac-sim/exts', '--ext-folder', '/isaac-sim/apps', '--/physics/cudaDevice=0', '--portable', '--allow-root'] Passing the following args to the base kit application: [] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available. [Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/2022.2/kit_20230808_162739.log 2023-08-08 16:27:39 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.lidar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.lidar/config' 2023-08-08 16:27:39 [2ms] [Warning] [omni.ext.plugin] [ext: omni.drivesim.sensors.nv.radar] Extensions config 'extension.toml' doesn't exist '/isaac-sim/exts/omni.drivesim.sensors.nv.radar' or '/isaac-sim/exts/omni.drivesim.sensors.nv.radar/config' [0.294s] [ext: omni.stats-0.0.0] startup [0.339s] [ext: omni.rtx.shadercache-1.0.0] startup [0.345s] [ext: omni.assets.plugins-0.0.0] startup [0.347s] [ext: omni.gpu_foundation-0.0.0] startup 2023-08-08 16:27:39 [338ms] [Warning] [carb] FrameworkImpl::setDefaultPlugin(client: omni.gpu_foundation_factory.plugin, desc : [carb::graphics::Graphics v2.11], plugin : carb.graphics-vulkan.plugin) failed. Plugin selection is locked, because the interface was previously acquired by: [0.358s] [ext: carb.windowing.plugins-1.0.0] startup 2023-08-08 16:27:40 [926ms] [Warning] [carb.windowing-glfw.gamepad] Joystick with unknown remapping detected (will be ignored): Microsoft Natural® Ergonomic Keyboard 4000 [030000005e040000db00000011010000] [0.943s] [ext: omni.kit.renderer.init-0.0.0] startup |---------------------------------------------------------------------------------------------| | Driver Version: 525.125.6 | Graphics API: Vulkan |=============================================================================================| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | | | | | | | Device-ID | UUID | |---------------------------------------------------------------------------------------------| | 0 | NVIDIA GeForce RTX 4090 | Yes: 0 | | 24810 MB | 10de | 0 | | | | | | | 2684 | 4b710849.. | |=============================================================================================| | OS: Linux geralt, Version: 6.2.0-26-generic | XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4) | Processor: Intel(R) Xeon(R) CPU E5-2690 v4 @ 2.60GHz | Cores: Unknown | Logical: 56 |---------------------------------------------------------------------------------------------| | Total Memory (MB): 128771 | Free Memory: 105201 | Total Page/Swap (MB): 1951 | Free Page/Swap: 1951 |---------------------------------------------------------------------------------------------| [2.951s] [ext: omni.kit.pipapi-0.0.0] startup [2.976s] [ext: omni.kit.pip_archive-0.0.0] startup [3.002s] [ext: omni.kit.loop-isaac-1.0.0] startup [3.003s] [ext: omni.kit.async_engine-0.0.0] startup [3.007s] [ext: omni.kit.test-0.0.0] startup [3.165s] [ext: omni.usd.config-1.0.0] startup [3.172s] [ext: omni.usd.libs-1.0.0] startup [3.368s] [ext: omni.isaac.core_archive-2.0.1] startup [3.570s] [ext: omni.pip.torch-1_13_0-0.1.4] startup [3.576s] [ext: omni.isaac.ml_archive-1.1.0] startup [3.728s] [ext: omni.client-0.1.1] startup [3.745s] [ext: omni.appwindow-1.0.1] startup [3.752s] [ext: omni.kit.renderer.core-0.0.0] startup [4.002s] [ext: omni.kit.renderer.capture-0.0.0] startup [4.012s] [ext: omni.kit.renderer.imgui-0.0.0] startup [4.183s] [ext: carb.audio-0.1.0] startup [4.187s] [ext: omni.ui-2.12.23] startup [4.211s] [ext: omni.uiaudio-1.0.0] startup [4.215s] [ext: omni.kit.mainwindow-1.0.0] startup [4.219s] [ext: omni.kit.uiapp-0.0.0] startup [4.219s] [ext: omni.usd.schema.physics-1.0.0] startup [4.287s] [ext: omni.usd.schema.omniscripting-1.0.0] startup [4.303s] [ext: omni.usd.schema.audio-0.0.0] startup [4.317s] [ext: omni.usd.schema.semantics-0.0.0] startup [4.337s] [ext: omni.usd.schema.anim-0.0.0] startup [4.476s] [ext: omni.usd.schema.omnigraph-1.0.0] startup [4.493s] [ext: omni.usd.schema.geospatial-0.0.0] startup [4.518s] [ext: omni.usd.core-1.0.0] startup [4.524s] [ext: omni.gpucompute.plugins-0.0.0] startup [4.525s] [ext: omni.timeline-1.0.5] startup [4.533s] [ext: omni.kit.audiodeviceenum-1.0.0] startup [4.536s] [ext: omni.hydra.usdrt_delegate-4.1.1] startup [4.561s] [ext: omni.kit.window.popup_dialog-2.0.15] startup [4.576s] [ext: omni.kit.actions.core-1.0.0] startup [4.580s] [ext: omni.kit.widget.nucleus_connector-1.0.2] startup [4.588s] [ext: omni.kit.commands-1.4.5] startup [4.596s] [ext: omni.hydra.scene_delegate-0.3.0] startup [4.603s] [ext: omni.usd-1.6.23] startup [4.665s] [ext: omni.kit.asset_converter-1.2.39] startup [4.685s] [ext: omni.usd.schema.physx-0.0.0] startup [4.783s] [ext: omni.usd.schema.isaac-1.0.0] startup [4.811s] [ext: omni.usd.schema.forcefield-0.0.0] startup [4.824s] [ext: omni.kit.collaboration.channel_manager-1.0.9] startup [4.828s] [ext: omni.inspect-1.0.1] startup [4.835s] [ext: omni.kit.menu.utils-1.4.7] startup [4.853s] [ext: omni.kit.usd.layers-2.0.10] startup [4.863s] [ext: omni.graph.core-2.64.7] startup [4.867s] [ext: omni.iray.libs-0.0.0] startup [4.873s] [ext: omni.kit.primitive.mesh-1.0.6] startup [4.879s] [ext: omni.volume-0.1.0] startup [4.884s] [ext: omni.mdl.neuraylib-0.1.0] startup [4.889s] [ext: omni.kit.stage_templates-1.1.11] startup [4.893s] [ext: omni.graph.tools-1.17.0] startup [4.921s] [ext: omni.hydra.rtx-0.1.0] startup [4.930s] [ext: omni.kit.usd_undo-0.1.1] startup [4.933s] [ext: omni.ui.scene-1.5.17] startup [4.942s] [ext: omni.graph-1.50.1] startup [5.003s] [ext: omni.debugdraw-0.1.1] startup [5.010s] [ext: omni.hydra.engine.stats-1.0.0] startup [5.019s] [ext: omni.kit.search_core-1.0.1] startup [5.022s] [ext: omni.kit.widget.path_field-2.0.4] startup [5.023s] [ext: omni.kit.widget.versioning-1.3.8] startup [5.026s] [ext: omni.kit.widget.filebrowser-2.3.8] startup [5.050s] [ext: omni.kit.widget.browser_bar-2.0.4] startup [5.051s] [ext: omni.kit.notification_manager-1.0.4] startup [5.063s] [ext: omni.kvdb-0.0.0] startup [5.068s] [ext: omni.kit.window.filepicker-2.7.8] startup OmniAssetFileFormat [5.147s] [ext: omni.kit.viewport.registry-104.0.2] startup [5.152s] [ext: omni.kit.window.file_importer-1.0.8] startup [5.153s] [ext: omni.hydra.pxr-1.1.2] startup [5.158s] [ext: omni.mdl-0.1.0] startup [5.185s] [ext: omni.kit.clipboard-1.0.0] startup [5.187s] [ext: omni.activity.core-1.0.1] startup [5.194s] [ext: omni.kit.hydra_texture-1.0.11] startup [5.203s] [ext: omni.kit.material.library-1.3.21] startup [5.211s] [ext: omni.kit.menu.create-1.0.8] startup [5.214s] [ext: omni.kit.window.drop_support-1.0.1] startup [5.215s] [ext: omni.kit.widget.viewport-104.1.15] startup [5.219s] [ext: omni.kit.viewport.legacy_gizmos-1.0.8] startup [5.223s] [ext: omni.kit.context_menu-1.5.10] startup [5.229s] [ext: omni.kit.viewport.window-104.1.18] startup [5.271s] [ext: omni.localcache-0.0.0] startup [5.276s] [ext: omni.kit.window.viewport-0.0.0] startup [7.293s] [ext: omni.convexdecomposition-104.1.6-5.1] startup [7.309s] [ext: omni.kit.viewport.utility-1.0.12] startup [7.312s] [ext: omni.kit.window.file_exporter-1.0.10] startup [7.318s] [ext: omni.ui_query-1.1.1] startup [7.327s] [ext: omni.kit.window.file-1.3.30] startup [7.338s] [ext: omni.kit.window.content_browser_registry-0.0.1] startup [7.340s] [ext: omni.kit.ui_test-1.2.9] startup [7.433s] [ext: omni.kit.window.property-1.8.2] startup [7.436s] [ext: omni.kit.window.content_browser-2.6.5] startup [7.483s] [ext: omni.kit.widget.stage-2.7.18] startup [7.490s] [ext: omni.usdphysics-104.1.6-5.1] startup [7.494s] [ext: omni.kit.property.usd-3.18.12] startup [7.513s] [ext: omni.physx-104.1.6-5.1] startup [7.550s] [ext: omni.kit.widget.settings-1.0.1] startup [7.552s] [ext: omni.kit.widget.graph-1.5.3] startup [7.617s] [ext: omni.kit.widget.text_editor-1.0.2] startup [7.620s] [ext: omni.kit.window.preferences-1.3.7] startup [7.730s] [ext: omni.kit.window.extensions-1.1.1] startup [7.739s] [ext: omni.kit.widget.prompt-1.0.4] startup [7.741s] [ext: omni.physics.tensors-0.1.0] startup [7.753s] [ext: omni.graph.ui-1.24.1] startup [7.803s] [ext: omni.isaac.version-1.0.0] startup [7.805s] [ext: omni.physx.tensors-0.1.0] startup [7.812s] [ext: omni.graph.action-1.31.0] startup [7.822s] [ext: omni.kit.numpy.common-0.1.0] startup [7.827s] [ext: omni.kit.graph.delegate.default-1.0.18] startup [7.830s] [ext: omni.kit.widget.searchfield-1.0.8] startup [7.833s] [ext: omni.isaac.dynamic_control-1.2.2] startup [7.844s] [ext: omni.kit.manipulator.viewport-104.0.7] startup [7.846s] [ext: omni.kit.graph.editor.core-1.4.7] startup [7.849s] [ext: omni.isaac.core-1.42.0] startup [9.336s] [ext: omni.graph.visualization.nodes-2.0.0] startup [9.346s] [ext: omni.kit.graph.widget.variables-2.0.4] startup [9.348s] [ext: omni.isaac.ui-0.4.3] startup [9.352s] [ext: omni.isaac.isaac_sensor-2.0.0] startup 2023-08-08 16:27:48 [9,336ms] [Warning] [omni.isaac.isaac_sensor] omni.isaac.isaac_sensor is deprecated and was renamed; use omni.isaac.sensor [9.352s] [ext: omni.isaac.surface_gripper-0.3.2] startup 2023-08-08 16:27:48 [9,339ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Surface Gripper ********************* 2023-08-08 16:27:48 [9,339ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Surface Gripper uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.359s] [ext: omni.kit.graph.usd.commands-1.2.0] startup [9.360s] [ext: omni.kit.graph.delegate.modern-1.6.4] startup [9.363s] [ext: omni.isaac.manipulators-1.1.0] startup [9.365s] [ext: omni.graph.window.core-1.41.0] startup [9.383s] [ext: omni.isaac.mjcf-0.3.0] startup 2023-08-08 16:27:49 [9,386ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription MJCF Importer ********************* 2023-08-08 16:27:49 [9,386ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] MJCF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.403s] [ext: omni.graph.window.generic-1.3.10] startup 2023-08-08 16:27:49 [9,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Push Graph ********************* 2023-08-08 16:27:49 [9,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Push Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Lazy Graph ********************* 2023-08-08 16:27:49 [9,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Lazy Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.406s] [ext: omni.kit.widget.spinner-1.0.4] startup [9.409s] [ext: omni.kit.window.cursor-1.1.1] startup [9.410s] [ext: omni.isaac.lula-1.2.1] startup [9.429s] [ext: omni.graph.nodes-1.48.3] startup [9.447s] [ext: omni.kit.viewport.menubar.core-104.4.1] startup [9.480s] [ext: omni.isaac.motion_planning-0.2.1] startup [9.495s] [ext: omni.kit.widget.zoombar-1.0.4] startup [9.497s] [ext: omni.syntheticdata-0.2.4] startup 2023-08-08 16:27:49 [9,503ms] [Warning] [omni.kit.viewport.menubar.core.menu_item.viewport_menu_item] ViewportMenuItem order argument is deprecated, use order_setting_path [9.528s] [ext: omni.isaac.motion_generation-4.5.5] startup [9.535s] [ext: omni.kit.browser.core-2.2.1] startup [9.543s] [ext: omni.isaac.synthetic_utils-0.4.2] startup [9.554s] [ext: omni.isaac.universal_robots-0.3.1] startup [9.555s] [ext: omni.kit.browser.folder.core-1.7.1] startup [9.564s] [ext: omni.isaac.urdf-0.5.4] startup 2023-08-08 16:27:49 [9,556ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription URDF Importer ********************* 2023-08-08 16:27:49 [9,556ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] URDF Importer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,557ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter URDF ********************* 2023-08-08 16:27:49 [9,557ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,565ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka URDF ********************* 2023-08-08 16:27:49 [9,565ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,573ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya URDF ********************* 2023-08-08 16:27:49 [9,573ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,581ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 URDF ********************* 2023-08-08 16:27:49 [9,581ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 URDF uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.606s] [ext: omni.isaac.utils-0.2.3] startup 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3 ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5 ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10 ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR3e ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR3e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR5e ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR5e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR10e ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR10e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription UR16e ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] UR16e uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 900 ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 900 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Cobotta Pro 1300 ********************* 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Cobotta Pro 1300 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,594ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Dofbot ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Dofbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Franka ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Franka uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription A1 ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] A1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Go1 ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Go1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription ANYmal C ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ANYmal C uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Crazyflie ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Crazyflie uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Quadcopter ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Quadcopter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V1 ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V1 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Carter V2 ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Carter V2 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetbot ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetbot uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Jetracer ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Jetracer uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Kaya ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Kaya uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Transporter ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Transporter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Flat Grid ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Flat Grid uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Grid Room ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Grid Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Simple Room ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Simple Room uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Small Warehouse With Multiple Shelves ********************* 2023-08-08 16:27:49 [9,595ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Small Warehouse With Multiple Shelves uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Full Warehouse ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Full Warehouse uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Hospital ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Hospital uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Office ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Office uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription tag36h11 ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] tag36h11 uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Allegro Hand ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Allegro Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Shadow Hand ********************* 2023-08-08 16:27:49 [9,596ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Shadow Hand uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [9.613s] [ext: omni.kit.browser.sample-1.2.4] startup [9.615s] [ext: omni.graph.scriptnode-0.9.3] startup [9.618s] [ext: omni.command.usd-1.0.1] startup [9.624s] [ext: omni.warp-0.6.1] startup Warp 0.6.1 initialized: CUDA Toolkit: 11.5, Driver: 12.0 Devices: "cpu" | x86_64 "cuda:0" | NVIDIA GeForce RTX 4090 (sm_89) Kernel cache: /root/.cache/warp/0.6.1 [10.035s] [ext: omni.kit.widget.live_session_management-1.1.3] startup [10.039s] [ext: omni.kit.hotkeys.core-1.0.8] startup [10.048s] [ext: omni.replicator.core-1.6.4] startup 2023-08-08 16:27:49 [10,201ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template [10.285s] [ext: omni.kit.widget.highlight_label-1.0.0] startup [10.286s] [ext: omni.kit.widget.layers-1.6.9] startup [10.305s] [ext: omni.isaac.core_nodes-0.21.0] startup [10.326s] [ext: omni.kit.actions.window-1.1.0] startup [10.333s] [ext: omni.isaac.debug_draw-0.2.2] startup [10.348s] [ext: omni.kit.property.layer-1.1.3] startup [10.351s] [ext: omni.isaac.wheeled_robots-0.6.1] startup [10.378s] [ext: omni.kit.hotkeys.window-1.1.3] startup [10.386s] [ext: omni.isaac.occupancy_map-0.2.6] startup 2023-08-08 16:27:49 [10,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Occupancy Map ********************* 2023-08-08 16:27:49 [10,382ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Occupancy Map uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:50 [10,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Block World Generator ********************* 2023-08-08 16:27:50 [10,389ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Block World Generator uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [10.408s] [ext: omni.kit.property.audio-1.0.6] startup [10.410s] [ext: omni.kit.property.camera-1.0.3] startup [10.412s] [ext: omni.kit.property.geometry-1.2.2] startup [10.415s] [ext: omni.kit.widget.stage_icons-1.0.2] startup [10.418s] [ext: omni.kit.property.light-1.0.6] startup [10.420s] [ext: omni.kit.property.material-1.8.16] startup [10.424s] [ext: omni.hydra.scene_api-0.1.1] startup [10.434s] [ext: omni.kit.window.stage-2.3.11] startup [10.439s] [ext: omni.kit.property.render-1.1.0] startup [10.441s] [ext: omni.kit.property.skel-1.0.1] startup [10.443s] [ext: omni.kit.property.transform-1.3.4] startup [10.448s] [ext: omni.kit.menu.stage-1.2.1] startup [10.450s] [ext: omni.kit.manipulator.transform-104.6.11] startup [10.456s] [ext: omni.kit.profiler.window-2.0.4] startup [10.809s] [ext: omni.kit.property.bundle-1.2.6] startup [10.811s] [ext: omni.kit.manipulator.selector-1.0.1] startup [10.813s] [ext: omni.kit.manipulator.tool.snap-1.2.2] startup [10.820s] [ext: omni.kit.window.toolbar-1.3.3] startup [10.832s] [ext: omni.kit.property.isaac-0.1.1] startup [10.833s] [ext: omni.kit.stage_column.payload-1.0.8] startup [10.837s] [ext: omni.kit.manipulator.camera-104.0.22] startup [10.838s] [ext: omni.kit.manipulator.prim-104.10.5] startup [10.844s] [ext: omni.kit.manipulator.selection-104.0.6] startup [10.845s] [ext: omni.kit.viewport.menubar.camera-104.1.7] startup [10.851s] [ext: omni.kit.viewport.menubar.render-104.0.19] startup [10.854s] [ext: omni.kit.viewport.menubar.display-104.1.11] startup [10.856s] [ext: omni.physx.commands-104.1.6-5.1] startup [10.863s] [ext: omni.kit.viewport.menubar.settings-104.3.4] startup [10.870s] [ext: omni.rtx.window.settings-0.6.2] startup [10.879s] [ext: omni.kit.stage_column.variant-1.0.9] startup [10.881s] [ext: omni.physx.ui-104.1.6-5.1] startup [10.962s] [ext: omni.kit.viewport.bundle-104.0.2] startup [10.962s] [ext: omni.hydra.pxr.settings-1.0.3] startup [10.963s] [ext: omni.kit.viewport.menubar.lighting-104.0.8] startup [10.967s] [ext: omni.kit.property.physx-0.1.0] startup [11.076s] [ext: omni.physx.demos-104.1.6-5.1] startup [11.083s] [ext: omni.kit.viewport.pxr-104.0.1] startup [11.083s] [ext: omni.kit.viewport.ready-1.0.2] startup [11.084s] [ext: omni.kit.viewport.rtx-104.0.0] startup [11.084s] [ext: omni.physx.camera-104.1.6-5.1] startup [11.097s] [ext: omni.kit.selection-0.1.0] startup [11.100s] [ext: omni.physx.cct-104.1.6-5.1] startup [11.689s] [ext: omni.physx.supportui-104.1.6-5.1] startup [11.855s] [ext: omni.kit.widget.live-2.0.3] startup 2023-08-08 16:27:51 [11,841ms] [Warning] [omni.kit.widget.live.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance. [11.858s] [ext: omni.physx.vehicle-104.1.6-5.1] startup [11.875s] [ext: omni.kit.menu.edit-1.1.5] startup 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Grid Visibility ********************* 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Grid Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Camera Visibility ********************* 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Camera Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Toggle Light Visibility ********************* 2023-08-08 16:27:51 [11,862ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Toggle Light Visibility uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [11.879s] [ext: omni.kit.window.commands-0.2.4] startup [12.044s] [ext: omni.kit.window.console-0.2.3] startup [12.058s] [ext: omni.physx.bundle-104.1.6-5.1] startup [12.059s] [ext: omni.graph.bundle.action-1.3.0] startup [12.059s] [ext: omni.isaac.range_sensor-0.7.0] startup 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic ********************* 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Array ********************* 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Array uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Emitter ********************* 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Emitter uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription FiringGroup ********************* 2023-08-08 16:27:51 [12,050ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] FiringGroup uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,051ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription LIDAR ********************* 2023-08-08 16:27:51 [12,051ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] LIDAR uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,060ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Ultrasonic ********************* 2023-08-08 16:27:51 [12,061ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Ultrasonic uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,070ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Generic Range Sensor ********************* 2023-08-08 16:27:51 [12,070ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Generic Range Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [12.100s] [ext: omni.kit.window.script_editor-1.6.4] startup [12.109s] [ext: omni.kit.window.status_bar-0.1.5] startup [12.114s] [ext: omni.kit.window.title-1.1.2] startup [12.115s] [ext: omni.replicator.composer-1.2.2] startup [12.117s] [ext: omni.replicator.isaac-1.7.3] startup [12.141s] [ext: omni.isaac.kit-1.2.1] startup [12.141s] [ext: omni.isaac.sensor-5.3.1] startup 2023-08-08 16:27:51 [12,126ms] [Warning] [omni.ext.plugin] [ext: omni.isaac.sensor-5.3.1] Native plugin search dir contains several files: /isaac-sim/exts/omni.isaac.sensor/bin . It makes dir walk slow, replace with the exact path to the plugin instead of a wildcard. 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact Sensor ********************* 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Imu Sensor ********************* 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Imu Sensor uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Rotating ********************* 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Rotating uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Solid State ********************* 2023-08-08 16:27:51 [12,199ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Solid State uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,203ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Contact ********************* 2023-08-08 16:27:51 [12,203ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Contact uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core 2023-08-08 16:27:51 [12,204ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription IMU ********************* 2023-08-08 16:27:51 [12,204ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] IMU uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [12.225s] [ext: omni.isaac.franka-0.4.0] startup [12.226s] [ext: omni.resourcemonitor-1.0.0] startup [12.238s] [ext: omni.rtx.settings.core-0.5.8] startup [12.245s] [ext: semantics.schema.editor-0.3.2] startup [12.252s] [ext: omni.kit.menu.file-1.1.3] startup [12.254s] [ext: omni.isaac.quadruped-1.2.2] startup [12.472s] [ext: omni.isaac.cortex-0.2.10] startup [12.472s] [ext: omni.graph.window.action-1.4.0] startup 2023-08-08 16:27:52 [12,457ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] ********************* MenuItemDescription Action Graph ********************* 2023-08-08 16:27:52 [12,457ms] [Warning] [omni.kit.menu.utils.scripts.builder_utils] Action Graph uses onclick_fn and/or unclick_fn which are deprecated. Use onclick_action and unclick_action instead which use omni.kit.actions.core [12.474s] [ext: omni.kit.window.stats-0.1.2] startup [12.476s] [ext: omni.isaac.sim.python-2022.2.0] startup [12.478s] Simulation App Starting [17.010s] app ready [17.442s] RTX ready [17.442s] RTX ready [17.606s] Simulation App Startup Complete [17.642s] [ext: omni.usd.schema.flow-104.1.6] startup [17.644s] [ext: omni.vdb_timesample_editor-0.1.4] startup [17.649s] [ext: omni.slangnode-104.1.9] startup [17.658s] [ext: omni.flowusd-104.1.9] startup [17.844s] [ext: omni.scene.visualization.core-104.2.2] startup [17.862s] [ext: omni.ramp-104.1.3] startup [17.870s] [ext: omni.particle.system.core-104.7.18] startup [17.894s] [ext: omni.particle.system.ui-104.4.12] startup [18.012s] [ext: omni.graph.window.particle.system-104.5.2] startup [18.062s] [ext: omni.particle.system.bundle-104.2.24] startup 2023-08-08 16:28:01 [21,630ms] [Warning] [carb.flatcache.plugin] UsdRelationship /Render/RenderProduct_omni_kit_widget_viewport_ViewportTexture_0.orderedVars has multiple targets, which is not supported ____________ / / \ / / /__ / / / /\ /__________/ /__/ \ \ _____ \ \__\ / \ \ / \ \ \_/ / \ \/___\ \ / \__________\_/ ___ _ ____ _ _ / _ \ _ __ ___ _ __ (_)/ ___(_) |__ ___ ___ _ __ | | | | '_ ` _ \| '_ \| | | _| | '_ \/ __|/ _ \| '_ \ | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | | \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_| [INFO] [omnigibson] ---------- Welcome to OmniGibson! ---------- [INFO] [omnigibson] Demo /omnigibson-src/omnigibson/examples/environments/behavior_env_demo.py ******************************************************************************** Description: Generates a BEHAVIOR Task environment in an online fashion. It steps the environment 100 times with random actions sampled from the action space, using the Gym interface, resetting it 10 times. ******************************************************************************** Here is a list of available online object samplings: [1] False: Use a pre-sampled cached BEHAVIOR activity scene [2] True: Sample the BEHAVIOR activity in an online fashion Choose a online object sampling (enter a number from 1 to 2): 1 [INFO] [omnigibson.utils.asset_utils] Scene name: Rs_int [INFO] [omnigibson.scenes.traversable_scene] TraversableScene model: Rs_int [INFO] [omnigibson.objects.object_base] Loaded skybox at /World/skybox [INFO] [omnigibson.maps.traversable_map] Loading traversable graph [INFO] [omnigibson.objects.object_base] Loaded salt_template at /World/salt/template [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_bamfsz_0 at /World/bottom_cabinet_bamfsz_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_dajebq_0 at /World/bottom_cabinet_dajebq_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_jhymlr_0 at /World/bottom_cabinet_jhymlr_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_0 at /World/breakfast_table_skczfi_0 [INFO] [omnigibson.objects.object_base] Loaded breakfast_table_skczfi_1 at /World/breakfast_table_skczfi_1 [INFO] [omnigibson.objects.object_base] Loaded coffee_table_fqluyq_0 at /World/coffee_table_fqluyq_0 [INFO] [omnigibson.objects.object_base] Loaded floor_lamp_vdxlda_0 at /World/floor_lamp_vdxlda_0 [INFO] [omnigibson.objects.object_base] Loaded laptop_nvulcs_0 at /World/laptop_nvulcs_0 [INFO] [omnigibson.objects.object_base] Loaded loudspeaker_bmpdyv_0 at /World/loudspeaker_bmpdyv_0 [INFO] [omnigibson.objects.object_base] Loaded pot_plant_jatssq_0 at /World/pot_plant_jatssq_0 [INFO] [omnigibson.objects.object_base] Loaded pot_plant_jatssq_1 at /World/pot_plant_jatssq_1 [INFO] [omnigibson.objects.object_base] Loaded pot_plant_udqjui_0 at /World/pot_plant_udqjui_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_njwsoa_0 at /World/shelf_njwsoa_0 [INFO] [omnigibson.objects.object_base] Loaded shelf_njwsoa_1 at /World/shelf_njwsoa_1 [INFO] [omnigibson.objects.object_base] Loaded shelf_owvfik_0 at /World/shelf_owvfik_0 [INFO] [omnigibson.objects.object_base] Loaded sofa_mnfbbh_0 at /World/sofa_mnfbbh_0 [INFO] [omnigibson.objects.object_base] Loaded standing_tv_udotid_0 at /World/standing_tv_udotid_0 [INFO] [omnigibson.objects.object_base] Loaded ottoman_ycfbsd_0 at /World/ottoman_ycfbsd_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_amgwaw_0 at /World/straight_chair_amgwaw_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_amgwaw_1 at /World/straight_chair_amgwaw_1 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_amgwaw_2 at /World/straight_chair_amgwaw_2 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_eospnr_0 at /World/straight_chair_eospnr_0 [INFO] [omnigibson.objects.object_base] Loaded straight_chair_eospnr_1 at /World/straight_chair_eospnr_1 [INFO] [omnigibson.objects.object_base] Loaded swivel_chair_qtqitn_0 at /World/swivel_chair_qtqitn_0 [INFO] [omnigibson.objects.object_base] Loaded table_lamp_xbfgjc_0 at /World/table_lamp_xbfgjc_0 [INFO] [omnigibson.objects.object_base] Loaded trash_can_zotrbg_0 at /World/trash_can_zotrbg_0 [INFO] [omnigibson.objects.object_base] Loaded bed_zrumze_0 at /World/bed_zrumze_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_bamfsz_1 at /World/bottom_cabinet_bamfsz_1 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_slgzfc_0 at /World/bottom_cabinet_slgzfc_0 [INFO] [omnigibson.objects.object_base] Loaded bottom_cabinet_slgzfc_1 at /World/bottom_cabinet_slgzfc_1 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_0. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_0. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_0 at /World/carpet_ctclvd_0 [WARNING] [omnigibson.objects.stateful_object] State FoldedLevel is incompatible with obj carpet_ctclvd_1. Reason: Cannot use ClothStateMixin FoldedLevel with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Draped is incompatible with obj carpet_ctclvd_1. Reason: Cannot use ClothStateMixin Draped with rigid object, make sure object is created with prim_type=PrimType.CLOTH! [WARNING] [omnigibson.objects.stateful_object] State Unfolded is incompatible with obj carpet_ctclvd_1. Reason: Missing required dependency state FoldedLevel [WARNING] [omnigibson.objects.stateful_object] State Folded is incompatible with obj carpet_ctclvd_1. Reason: Missing required dependency state FoldedLevel [INFO] [omnigibson.objects.object_base] Loaded carpet_ctclvd_1 at /World/carpet_ctclvd_1 [INFO] [omnigibson.objects.object_base] Loaded countertop_tpuwys_0 at /World/countertop_tpuwys_0 [INFO] [omnigibson.objects.object_base] Loaded dishwasher_xlmier_0 at /World/dishwasher_xlmier_0 [INFO] [omnigibson.objects.object_base] Loaded door_ktydvs_0 at /World/door_ktydvs_0 [INFO] [omnigibson.objects.object_base] Loaded door_lvgliq_0 at /World/door_lvgliq_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_0 at /World/electric_switch_wseglt_0 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_1 at /World/electric_switch_wseglt_1 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_2 at /World/electric_switch_wseglt_2 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_3 at /World/electric_switch_wseglt_3 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_4 at /World/electric_switch_wseglt_4 [INFO] [omnigibson.objects.object_base] Loaded electric_switch_wseglt_5 at /World/electric_switch_wseglt_5 [INFO] [omnigibson.objects.object_base] Loaded fridge_xyejdx_0 at /World/fridge_xyejdx_0 [INFO] [omnigibson.objects.object_base] Loaded microwave_abzvij_0 at /World/microwave_abzvij_0 [INFO] [omnigibson.objects.object_base] Loaded mirror_pevdqu_0 at /World/mirror_pevdqu_0 [INFO] [omnigibson.objects.object_base] Loaded oven_wuinhm_0 at /World/oven_wuinhm_0 [INFO] [omnigibson.objects.object_base] Loaded picture_etixod_0 at /World/picture_etixod_0 [INFO] [omnigibson.objects.object_base] Loaded picture_hhxttu_0 at /World/picture_hhxttu_0 [INFO] [omnigibson.objects.object_base] Loaded shower_stall_invgma_0 at /World/shower_stall_invgma_0 [INFO] [omnigibson.objects.object_base] Loaded sink_ksecxq_0 at /World/sink_ksecxq_0 [INFO] [omnigibson.objects.object_base] Loaded sink_zexzrc_0 at /World/sink_zexzrc_0 [INFO] [omnigibson.objects.object_base] Loaded toilet_vtqdev_0 at /World/toilet_vtqdev_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_fqhdne_0 at /World/top_cabinet_fqhdne_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_0 at /World/top_cabinet_lsyzkh_0 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_1 at /World/top_cabinet_lsyzkh_1 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_2 at /World/top_cabinet_lsyzkh_2 [INFO] [omnigibson.objects.object_base] Loaded top_cabinet_lsyzkh_3 at /World/top_cabinet_lsyzkh_3 [INFO] [omnigibson.objects.object_base] Loaded towel_rack_kqrmrh_0 at /World/towel_rack_kqrmrh_0 [INFO] [omnigibson.objects.object_base] Loaded towel_rack_kqrmrh_1 at /World/towel_rack_kqrmrh_1 [INFO] [omnigibson.objects.object_base] Loaded window_ithrgo_0 at /World/window_ithrgo_0 [INFO] [omnigibson.objects.object_base] Loaded window_ithrgo_1 at /World/window_ithrgo_1 [INFO] [omnigibson.objects.object_base] Loaded window_ithrgo_2 at /World/window_ithrgo_2 [INFO] [omnigibson.objects.object_base] Loaded window_ulnafj_0 at /World/window_ulnafj_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_jfsbfp_0 at /World/ceilings_jfsbfp_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_phrrml_0 at /World/ceilings_phrrml_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_rhfker_0 at /World/ceilings_rhfker_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_yimfml_0 at /World/ceilings_yimfml_0 [INFO] [omnigibson.objects.object_base] Loaded ceilings_zlhppj_0 at /World/ceilings_zlhppj_0 [INFO] [omnigibson.objects.object_base] Loaded floors_avvnuv_0 at /World/floors_avvnuv_0 [INFO] [omnigibson.objects.object_base] Loaded floors_gjemfr_0 at /World/floors_gjemfr_0 [INFO] [omnigibson.objects.object_base] Loaded floors_ifmioj_0 at /World/floors_ifmioj_0 [INFO] [omnigibson.objects.object_base] Loaded floors_ptwlei_0 at /World/floors_ptwlei_0 [INFO] [omnigibson.objects.object_base] Loaded floors_ucjdgj_0 at /World/floors_ucjdgj_0 [INFO] [omnigibson.objects.object_base] Loaded walls_axhynp_0 at /World/walls_axhynp_0 [INFO] [omnigibson.objects.object_base] Loaded walls_bcjmdz_0 at /World/walls_bcjmdz_0 [INFO] [omnigibson.objects.object_base] Loaded walls_dekben_0 at /World/walls_dekben_0 [INFO] [omnigibson.objects.object_base] Loaded walls_exiopd_0 at /World/walls_exiopd_0 [INFO] [omnigibson.objects.object_base] Loaded walls_gxvfxw_0 at /World/walls_gxvfxw_0 [INFO] [omnigibson.objects.object_base] Loaded walls_gxynpx_0 at /World/walls_gxynpx_0 [INFO] [omnigibson.objects.object_base] Loaded walls_xlgydu_0 at /World/walls_xlgydu_0 [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:estop_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:laser_link:collisions [WARNING] [omnigibson.prims.rigid_prim] Got invalid (non-volume) collision mesh: robot0:torso_lift_link:collisions [INFO] [omnigibson.objects.object_base] Loaded robot0 at /World/robot0 [INFO] [omnigibson.objects.controllable_object] Control frequency is None - being set to default of 1 / render_timestep: 60.0000 [INFO] [omnigibson.objects.object_base] Loaded beaker_81 at /World/beaker_81 [INFO] [omnigibson.objects.object_base] Loaded salt_shaker_82 at /World/salt_shaker_82 [INFO] [omnigibson.objects.object_base] Loaded tablespoon_83 at /World/tablespoon_83 2023-08-08 16:29:52 [133,285ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,288ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/laptop_nvulcs_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,289ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/loudspeaker_bmpdyv_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,291ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/table_lamp_xbfgjc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,292ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_3/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,294ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/microwave_abzvij_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,295ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_ksecxq_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,297ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_5/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,298ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,300ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,301ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,303ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_zexzrc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,304ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,306ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/standing_tv_udotid_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,308ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:52 [133,309ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_xlmier_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:53 [133,989ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_4/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:53 [133,989ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/laptop_nvulcs_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:53 [133,989ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/loudspeaker_bmpdyv_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:53 [133,990ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/table_lamp_xbfgjc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:29:53 [133,990ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision 2023-08-08 16:30:15 [155,839ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_5/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,839ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_2/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,839ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_1/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,840ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/floor_lamp_vdxlda_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,840ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/sink_zexzrc_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,840ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/electric_switch_wseglt_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,841ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/standing_tv_udotid_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,841ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/oven_wuinhm_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [155,841ms] [Warning] [omni.physx.plugin] Non-uniform scale may result in a non matching collision representation on prim: /World/dishwasher_xlmier_0/togglebutton_0_0_link/mesh_0 2023-08-08 16:30:15 [156,202ms] [Error] [Screencast from 08-08-2023 12:28:10 PM.webm](https://github.com/StanfordVL/OmniGibson/assets/71032891/2b35558b-f59e-4130-8979-799de49db1d5) [omni.kit.manipulator.prim.model] Traceback (most recent call last): File "/isaac-sim/kit/extscore/omni.kit.manipulator.prim/omni/kit/manipulator/prim/model.py", line 1492, in _update_transform_from_prims_async pivot_prim_path = self._pivot_prim.GetPath() AttributeError: 'NoneType' object has no attribute 'GetPath' [INFO] [omnigibson] ---------- Shutting Down OmniGibson ---------- [157.461s] Simulation App Shutting Down ```

Oddities:

Large salt particles
Salt exploding out of the shaker
Couch in the floor

Hi @dmcconachie-tri ,

Huge thanks for taking the time to compile these bug reports. Our team is taking a look into it; we should hopefully have fixes ready by tomorrow!

Hi @dmcconachie-tri ,

Apologies for the delay. We have a new release out (0.2.1) that fixes some of your issues. Concretely:

scene_model: Benevolence_1_int

activity_name: clean_a_kitchen_table

I was unable to deterministically reproduce this error on my machine. It occurred the first time I ran but did not show up during subsequent runs. This is a bit concerning, as it seems to suggest potentially an NVIDIA / Omniverse caching issue of some sort. We are hoping it can be reproduced potentially on another setup (@cgokmen )

scene_model: Beechwood_0_int

activity_name: make_a_salad

I was able to reproduce the segfaults deterministically. We had similar issues with IsaacSim v2022.2.1 (stochastically) but had never seen it occur with 2022.2.0. We're hoping that the impending NV release v2023.1.0 will resolve this issue.

scene_model: Rs_int

activity_name: prepare_sea_salt_soak

This (as well as other problematic tasks with similar object-through-floor) has been resampled. Moreover, salt should no longer explode out of the container.

Regarding salt particle sizes, it is a known limitation of the NVIDIA Omniverse particle systems. We could reduce the diameter of the particles, but physics stability is likely to decrease, especially at the default physics timestep size (1/60). In general, we've tried to limit our particles from being less than 1-2cm in diameter for this reason, at the expense of a bit less realism. Currently there's no explicit API that allows you to modify the particle size at runtime, but you can always go to the hyperparameter specification (in <DATASET>/systems/<system_name>/metadata.json) and directly modify the size there.

As an aside, there's also been other problematic tasks (not mentioned explicitly in this thread) and issues that have been fixed as well. Apologies for the issues; again, huge thanks for tagging these bugs and being patient with the development. We're planning on having another mini-release soon once NVIDIA releases their new IsaacSim version -- hopefully within the next 3 weeks or so!

May I ask where I can run the Behavior 1K tasks？

It seems these problems haven't been resolved... I install Omnigibson with docker on linux without GUI as the link OmniGibson Documentation. However when I run python -m omnigibson.examples.environments.behavior_env_demo (the only change is to enable USE_GPU_DYNAMICS), I also meet the error: 2023-11-26 11:58:24 [1,146,503ms] [Error] [omni.kit.manipulator.prim.model] Traceback (most recent call last): File "/isaac-sim/kit/extscore/omni.kit.manipulator.prim/omni/kit/manipulator/prim/model.py", line 1492, in _update_transform_from_prims_async pivot_prim_path = self._pivot_prim.GetPath() AttributeError: 'NoneType' object has no attribute 'GetPath'

I believe all of the above issues are fixed in our current development branch - closing this issue, please keep an eye out for our upcoming release.

StanfordVL / OmniGibson

Errors running Behavior 1K tasks #253