diff --git a/.gitignore b/.gitignore
index a79389d..3e7f425 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,4 +18,5 @@ _isaac_sim_410
 InterDataEngine-docs
 debug.sh
 debug.yaml
-depre
\ No newline at end of file
+depre
+workflows/simbox/src/nvidia-curobo/
\ No newline at end of file
diff --git a/1.py b/1.py
new file mode 100644
index 0000000..ceaaa7d
--- /dev/null
+++ b/1.py
@@ -0,0 +1,116 @@
+# from pxr import Usd, UsdGeom
+# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
+# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))
+# print('upAxis:', UsdGeom.GetStageUpAxis(stage))
+# dp = stage.GetDefaultPrim()
+# print('defaultPrim:', dp.GetPath() if dp else 'None')
+# xf = UsdGeom.Xformable(dp)
+# for op in xf.GetOrderedXformOps():
+#     print(f'  xformOp: {op.GetName()} = {op.Get()}')
+# for child in dp.GetChildren():
+#     cxf = UsdGeom.Xformable(child)
+#     ops = cxf.GetOrderedXformOps()
+#     if ops:
+#         for op in ops:
+#             print(f'  child {child.GetPath()} xformOp: {op.GetName()} = {op.Get()}')
+
+# from pxr import Usd, UsdGeom                                                                                                                                        
+# stage = Usd.Stage.Open('workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd')
+# print('metersPerUnit:', UsdGeom.GetStageMetersPerUnit(stage))                                                                                                       
+# print('upAxis:', UsdGeom.GetStageUpAxis(stage))                                                                                                                     
+# for prim in stage.Traverse():                                                                                                                                       
+#     print(f'  {prim.GetPath()} type={prim.GetTypeName()}')                                                                                                          
+#     xf = UsdGeom.Xformable(prim)                                                                                                                                    
+#     if xf:                                                                                                                                                          
+#         for op in xf.GetOrderedXformOps():                                                                                                                          
+#             print(f'    {op.GetName()} = {op.Get()}')
+
+from pxr import Usd, UsdGeom                                                                                                                                        
+import yaml, os                                                                                                                                                     
+                                                                                                                                                                    
+with open('workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml') as f:                                                                                
+    cfg = yaml.safe_load(f)                                                                                                                                         
+                                                                                                                                                                    
+tasks = cfg.get('tasks', [cfg])                                                                                                                                     
+for task in tasks:                                                                                                                                                  
+    asset_root = task.get('asset_root', '')                                                                                                                         
+    for obj in task.get('objects', []):                                                                                                                             
+        name = obj['name']             
+        path = obj.get('path', '')                                                                                                                                  
+        full = os.path.join(asset_root, path)                                                                                                                       
+        print(f'=== {name}: {full} ===')                                                                                                                            
+        try:                                                                                                                                                        
+            stage = Usd.Stage.Open(full)                                                                                                                            
+            print(f'  metersPerUnit: {UsdGeom.GetStageMetersPerUnit(stage)}')                                                                                       
+            print(f'  upAxis: {UsdGeom.GetStageUpAxis(stage)}')                                                                                                     
+        except Exception as e:                                                                                                                                      
+            print(f'  ERROR: {e}')
+
+# ===== Check mesh vertex ranges =====
+print("\n===== Mesh vertex ranges =====")
+import numpy as np
+usd_files = {
+    'pick_object_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
+    'gso_box_right': 'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
+}
+for name, path in usd_files.items():
+    stage = Usd.Stage.Open(path)
+    for prim in stage.Traverse():
+        if prim.GetTypeName() == 'Mesh':
+            mesh = UsdGeom.Mesh(prim)
+            pts = mesh.GetPointsAttr().Get()
+            if pts:
+                pts = np.array(pts)
+                print(f'{name} mesh={prim.GetPath()} npts={len(pts)}')
+                print(f'  X: [{pts[:,0].min():.4f}, {pts[:,0].max():.4f}]')
+                print(f'  Y: [{pts[:,1].min():.4f}, {pts[:,1].max():.4f}]  (upAxis=Y, this is height)')
+                print(f'  Z: [{pts[:,2].min():.4f}, {pts[:,2].max():.4f}]')
+                print(f'  Y_max * 0.01 = {pts[:,1].max()*0.01:.6f} m')
+                print(f'  Y_extent = {pts[:,1].max()-pts[:,1].min():.4f}')
+                print(f'  Y_max (raw cm) = {pts[:,1].max():.4f}')
+                # 109.75 / Y_max ?
+                if pts[:,1].max() > 0:
+                    print(f'  109.75 / Y_max = {109.75 / pts[:,1].max():.4f}')
+                    print(f'  109.75 / (Y_max*0.01) = {109.75 / (pts[:,1].max()*0.01):.4f}')
+
+# ===== Fix USD metadata: set metersPerUnit=1.0 and upAxis=Z =====
+print("\n===== Fixing USD metadata =====")
+import shutil
+
+fix_files = [
+    'workflows/simbox/example_assets/task/sort_the_rubbish/recyclable_garbage/bottle_0/Aligned_obj.usd',
+    'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/recyclable_can/Aligned_obj.usd',
+    'workflows/simbox/example_assets/task/sort_the_rubbish/garbage_can/nonrecyclable_can/Aligned_obj.usd',
+]
+# Also try to find pick_object_left USD
+pick_left_path = 'workflows/simbox/example_assets/task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd'
+if os.path.exists(pick_left_path):
+    fix_files.append(pick_left_path)
+
+for fpath in fix_files:
+    if not os.path.exists(fpath):
+        print(f'  SKIP (not found): {fpath}')
+        continue
+    # Backup
+    bak = fpath + '.bak'
+    if not os.path.exists(bak):
+        shutil.copy2(fpath, bak)
+        print(f'  Backed up: {fpath} -> {bak}')
+    else:
+        print(f'  Backup already exists: {bak}')
+
+    stage = Usd.Stage.Open(fpath)
+    old_mpu = UsdGeom.GetStageMetersPerUnit(stage)
+    old_up = UsdGeom.GetStageUpAxis(stage)
+    print(f'  {fpath}: old metersPerUnit={old_mpu}, upAxis={old_up}')
+
+    UsdGeom.SetStageMetersPerUnit(stage, 1.0)
+    UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
+    stage.GetRootLayer().Save()
+
+    # Verify
+    stage2 = Usd.Stage.Open(fpath)
+    print(f'  -> new metersPerUnit={UsdGeom.GetStageMetersPerUnit(stage2)}, upAxis={UsdGeom.GetStageUpAxis(stage2)}')
+
+print("\nDone! Now run launcher to test if Z is normal.")
+print("To restore: for each .bak file, copy it back over the .usd file")
\ No newline at end of file
diff --git a/configs/simbox/de_plan_and_render_template.yaml b/configs/simbox/de_plan_and_render_template.yaml
index 0ad9873..4b4113f 100644
--- a/configs/simbox/de_plan_and_render_template.yaml
+++ b/configs/simbox/de_plan_and_render_template.yaml
@@ -10,7 +10,7 @@ load_stage:
         rendering_dt: 1/30                 # Render update rate
         stage_units_in_meters: 1.0         # Stage unit scale
         headless: True                     # Headless mode (no GUI); set false for visual debugging
-        renderer: "PathTracing"            # PathTracing: higher quality, less noise on Blackwell
+        renderer: "RayTracedLighting"            # PathTracing: higher quality, less noise on Blackwell 改回快速渲染器就改成 "RayTracedLighting"
         anti_aliasing: 0                   # Anti-aliasing level
   layout_random_generator:                 # Scene randomization
     type: env_randomizer
diff --git a/install.md b/install.md
new file mode 100644
index 0000000..8bdabb6
--- /dev/null
+++ b/install.md
@@ -0,0 +1,33 @@
+conda create -n banana450 python=3.10
+conda activate banana450
+# 看看12.8安装了么？
+conda list | grep cuda 
+# 安装12.8
+conda install -y cuda-toolkit=12.8 
+# 其他的cuda版本在conda中的需要卸载
+conda list | grep cuda 
+source ~/isaacsim450/setup_conda_env.sh 
+# 导入conda环境的12.8cuda环境
+export CUDA_HOME="$CONDA_PREFIX"
+export PATH="$CONDA_PREFIX/bin:$PATH"
+# 看一下应该是12.8
+nvcc -V 
+# 换掉torch版本，换成cu128编译的版本
+pip list | grep torch
+pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
+pip list | grep torch
+pip install -r requirements.txt
+pip list | grep cuda
+# 卸载掉cu11的那些包
+pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11
+
+# 安装curobo
+cd workflows/simbox/curobo
+# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
+export TORCH_CUDA_ARCH_LIST="12.0+PTX"
+pip install -e .[isaacsim] --no-build-isolation
+
+# 降级numpy
+pip install numpy==1.26.0
+pip install opencv-python==4.11.0.86
+python launcher.py --config configs/simbox/de_plan_and_render_template.yaml
\ No newline at end of file
diff --git a/migerate/fix_usd_metadata.py b/migerate/fix_usd_metadata.py
new file mode 100644
index 0000000..d41f010
--- /dev/null
+++ b/migerate/fix_usd_metadata.py
@@ -0,0 +1,159 @@
+"""
+Batch fix USD metadata for IS 5.0.0 compatibility.
+
+IS 4.5.0 auto-added 'Rotate:unitsResolve' and 'Scale:unitsResolve' xformOps
+to compensate for metersPerUnit/upAxis differences. IS 5.0.0 no longer does this,
+causing RigidObject physics to break (objects fly away).
+
+Fix: Change metersPerUnit to 1.0 and upAxis to Z in USD metadata.
+Vertex data stays unchanged (already in correct scale for the scene).
+
+Usage:
+    # Scan only (dry run):
+    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+
+    # Fix all:
+    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
+
+    # Fix specific pattern:
+    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+
+    # Skip specific directories (e.g. robot models, curobo assets):
+    python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+
+    # Restore from backups:
+    python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+"""
+import argparse
+import glob
+import os
+import shutil
+import sys
+
+from pxr import Usd, UsdGeom
+
+
+def fix_usd_files(root: str, pattern: str = "*.usd", target_mpu: float = 1.0,
+                   target_up: str = "Z", dry_run: bool = False, skip: list = None):
+    usd_files = glob.glob(os.path.join(root, "**", pattern), recursive=True)
+    usd_files = [f for f in usd_files if not f.endswith(".bak")]
+    usd_files.sort()
+
+    skip = skip or []
+
+    print(f"Scanning {len(usd_files)} USD files under: {root}")
+    if dry_run:
+        print("[DRY RUN] No files will be modified.\n")
+    print()
+
+    fixed = 0
+    skipped = 0
+    skipped_dir = 0
+    errors = 0
+
+    for fpath in usd_files:
+        rel = os.path.relpath(fpath, root)
+
+        # Check skip patterns
+        if any(s in rel for s in skip):
+            print(f"  SKIP (dir filter): {rel}")
+            skipped_dir += 1
+            continue
+
+        try:
+            stage = Usd.Stage.Open(fpath)
+            if stage is None:
+                print(f"  ERROR: Cannot open {rel}")
+                errors += 1
+                continue
+
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            up = UsdGeom.GetStageUpAxis(stage)
+
+            needs_fix = (mpu != target_mpu) or (up != target_up)
+            if not needs_fix:
+                print(f"  OK: {rel} (mpu={mpu}, up={up})")
+                skipped += 1
+                continue
+
+            if dry_run:
+                print(f"  WOULD FIX: {rel} (mpu={mpu}, up={up} -> mpu={target_mpu}, up={target_up})")
+                fixed += 1
+                continue
+
+            # Backup
+            bak = fpath + ".bak"
+            if not os.path.exists(bak):
+                shutil.copy2(fpath, bak)
+
+            # Fix
+            UsdGeom.SetStageMetersPerUnit(stage, target_mpu)
+            UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z if target_up == "Z" else UsdGeom.Tokens.y)
+            stage.GetRootLayer().Save()
+
+            print(f"  FIXED: {rel} (mpu={mpu}/{up} -> {target_mpu}/{target_up})")
+            fixed += 1
+
+        except Exception as e:
+            print(f"  ERROR: {rel} -> {e}")
+            errors += 1
+
+    print(f"\nDone: {fixed} {'would fix' if dry_run else 'fixed'}, {skipped} already OK, "
+          f"{skipped_dir} skipped (dir filter), {errors} errors.")
+
+    if not dry_run and fixed > 0:
+        print("Backups saved as *.bak.")
+        print("To restore: python migerate/fix_usd_metadata.py --root <DIR> --restore")
+
+    return fixed
+
+
+def restore_backups(root: str, pattern: str = "*.usd"):
+    bak_files = glob.glob(os.path.join(root, "**", pattern + ".bak"), recursive=True)
+    bak_files.sort()
+
+    if not bak_files:
+        print(f"No .bak files found under: {root}")
+        return
+
+    print(f"Found {len(bak_files)} backup files. Restoring...")
+    for bak in bak_files:
+        original = bak[:-4]  # remove .bak
+        shutil.copy2(bak, original)
+        print(f"  Restored: {os.path.relpath(original, root)}")
+    print(f"\nDone: {len(bak_files)} files restored.")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        description="Batch fix USD metersPerUnit/upAxis metadata for IS 5.0.0 compatibility",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  # Dry run on example assets:
+  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --dry-run
+
+  # Fix all Aligned_obj.usd in example assets:
+  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --pattern "Aligned_obj.usd"
+
+  # Fix everything except robot/curobo dirs:
+  python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+
+  # Restore all backups:
+  python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+""")
+    parser.add_argument("--root", default="workflows/simbox/example_assets",
+                        help="Root directory to scan (default: workflows/simbox/example_assets)")
+    parser.add_argument("--pattern", default="*.usd", help="Filename glob pattern (default: *.usd)")
+    parser.add_argument("--target-mpu", type=float, default=1.0, help="Target metersPerUnit (default: 1.0)")
+    parser.add_argument("--target-up", choices=["Y", "Z"], default="Z", help="Target upAxis (default: Z)")
+    parser.add_argument("--dry-run", action="store_true", help="Scan and report only, do not modify files")
+    parser.add_argument("--skip", default="", help="Comma-separated dir substrings to skip (e.g. 'curobo,robot')")
+    parser.add_argument("--restore", action="store_true", help="Restore all .bak files to originals")
+    args = parser.parse_args()
+
+    if args.restore:
+        restore_backups(args.root, args.pattern)
+    else:
+        skip_list = [s.strip() for s in args.skip.split(",") if s.strip()]
+        fix_usd_files(args.root, args.pattern, args.target_mpu, args.target_up, args.dry_run, skip_list)
diff --git a/migerate/migerate.md b/migerate/migerate.md
new file mode 100644
index 0000000..bcafcae
--- /dev/null
+++ b/migerate/migerate.md
@@ -0,0 +1,199 @@
+# Isaac Sim 4.5.0 -> 5.0.0 Migration Guide
+
+## Background
+
+- GPU: NVIDIA RTX PRO 6000 Blackwell (SM_120, compute capability 12.0)
+- IS 4.5.0 = Kit 106.5.0, DLSS Ray Reconstruction not supported on Blackwell (needs Kit >= 106.5.3), rendering has noise
+- IS 5.0.0 = Kit 107.x, fixes Blackwell rendering noise
+- IS 5.1.0 headless camera rendering completely broken (known bug GitHub #3250), abandoned
+
+## Issues & Solutions
+
+### 1. SimulationApp import path changed
+
+**Error:** `ModuleNotFoundError: No module named 'omni.isaac.kit'`
+
+**Cause:** IS 5.x changed the import path.
+
+**Fix** (`nimbus_extension/components/load/env_loader.py`):
+```python
+try:
+    from isaacsim import SimulationApp  # IS 5.x
+except ImportError:
+    from omni.isaac.kit import SimulationApp  # IS 4.x
+```
+
+### 2. USD metersPerUnit / upAxis not auto-compensated
+
+**Error:** RigidObject Z coordinate flying to 109.75+ after `world.reset()`, curobo `plan_single()` fails with "Plan did not converge" (goal_pos Z = 25261 meters).
+
+**Cause:** IS 4.5.0 auto-added `Rotate:unitsResolve` (X=90) and `Scale:unitsResolve` (0.01, 0.01, 0.01) xformOps to compensate for USD files with `metersPerUnit=0.01, upAxis=Y`. IS 5.0.0 no longer does this, causing PhysX to misinterpret RigidObject positions.
+
+GeometryObjects (no physics) were unaffected — only RigidObjects with PhysX simulation had the issue.
+
+**Fix:** Change USD metadata directly using pxr scripting. Run `fix_usd_metadata.py`:
+```python
+from pxr import Usd, UsdGeom
+stage = Usd.Stage.Open(usd_path)
+UsdGeom.SetStageMetersPerUnit(stage, 1.0)   # was 0.01
+UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)  # was Y
+stage.GetRootLayer().Save()
+```
+
+All 14 `Aligned_obj.usd` files under `workflows/simbox/example_assets` have been batch-fixed. Backups saved as `.bak`.
+
+**Verification:** After fix, pick_object_right Z went from 109.75 to 0.7968 (normal).
+
+### 3. scipy `scalar_first` parameter not supported
+
+**Error:** `Rotation.as_quat() takes no keyword arguments`
+
+**Cause:** IS 5.0.0 ships scipy < 1.11 which doesn't support `scalar_first` parameter in `Rotation.from_quat()` / `Rotation.as_quat()`. Dozens of files use this parameter.
+
+**Fix** (`launcher.py`): Monkey-patch via subclass at startup:
+```python
+try:
+    from scipy.spatial.transform import Rotation as _R
+    _R.from_quat([1, 0, 0, 0], scalar_first=True)
+except TypeError:
+    # Install Rotation subclass that handles scalar_first
+    # See launcher.py for full implementation
+    pass
+```
+
+### 4. `arena_file_path` is None on second reset
+
+**Error:** `arena_file_path` becomes None after first episode.
+
+**Cause:** `self.task_cfg.pop("arena_file", None)` on line 107 of `simbox_dual_workflow.py` deletes the key after first use.
+
+**Fix** (`workflows/simbox_dual_workflow.py`): Cache the value:
+```python
+self._arena_file_path = None  # in __init__
+
+# in reset():
+arena_file_path = self.task_cfg.get("arena_file", None) or self._arena_file_path
+if arena_file_path:
+    self._arena_file_path = arena_file_path
+```
+
+### 5. "Task name should be unique in the world"
+
+**Error:** `AssertionError` when calling `world.add_task()` on second episode.
+
+**Cause:** World retains tasks from previous episode.
+
+**Fix** (`workflows/simbox_dual_workflow.py`):
+```python
+self.world._current_tasks.clear()
+self.world.add_task(self.task)
+```
+
+### 6. "A prim already exists at prim path"
+
+**Error:** Scene setup tries to re-create existing prims on repeated `world.reset()` calls.
+
+**Fix** (`workflows/simbox/core/tasks/banana.py`): Add `_scene_initialized` guard:
+```python
+def set_up_scene(self, scene):
+    if getattr(self, '_scene_initialized', False):
+        self._task_objects = {}
+        self._task_objects |= (
+            getattr(self, 'fixtures', {}) |
+            getattr(self, 'objects', {}) |
+            getattr(self, 'robots', {}) |
+            getattr(self, 'cameras', {})
+        )
+        return
+    self._scene_initialized = True
+    super().set_up_scene(scene)
+```
+
+### 7. Collision group prim already exists
+
+**Error:** Collision group prims persist across resets.
+
+**Fix** (`workflows/simbox/core/utils/collision_utils.py`): Remove existing collision prims before re-creating:
+```python
+collision_prim = stage.GetPrimAtPath(collision_root_path)
+if collision_prim.IsValid():
+    stage.RemovePrim(collision_root_path)
+```
+
+### 8. DomeLight environment map tilted
+
+**Error:** HDR environment map appears rotated/tilted in viewport and rendered output.
+
+**Cause:** DomeLight rotation was randomized on all 3 axes (X, Y, Z). Rotating X/Y tilts the environment.
+
+**Fix** (`workflows/simbox/core/tasks/banana.py`): Only rotate Z axis:
+```python
+# Before:
+rotation = [random.uniform(r[0], r[1]) for _ in range(3)]
+# After:
+rotation = [0.0, 0.0, random.uniform(r[0], r[1])]
+```
+
+## Files Modified
+
+| File | Change |
+|------|--------|
+| `nimbus_extension/components/load/env_loader.py` | SimulationApp import compatibility |
+| `launcher.py` | scipy Rotation monkey-patch |
+| `workflows/simbox_dual_workflow.py` | arena_file caching, task clearing, task reuse |
+| `workflows/simbox/core/tasks/banana.py` | Scene re-init guard, DomeLight rotation fix |
+| `workflows/simbox/core/utils/collision_utils.py` | Collision group cleanup |
+| `workflows/simbox/example_assets/**/Aligned_obj.usd` | metersPerUnit=1.0, upAxis=Z |
+| `fix_usd_metadata.py` | Batch USD metadata fix script |
+
+## Tools
+
+Migration tools are located in the `migerate/` directory.
+
+### scan_usd_metadata.py — Scan USD metadata
+
+Scan all USD files and report their `metersPerUnit` / `upAxis`:
+
+```bash
+conda activate banana500
+
+# Scan entire project
+python migerate/scan_usd_metadata.py --root .
+
+# Scan specific directory
+python migerate/scan_usd_metadata.py --root workflows/simbox/example_assets
+```
+
+Exit code: 0 = all OK, 1 = found files with non-standard metadata.
+建议扫描后丢给大模型分析一下然后再做下一步
+### fix_usd_metadata.py — Batch fix USD metadata
+
+Fix `metersPerUnit` and `upAxis` in USD files, with backup/restore support:
+
+```bash
+conda activate banana500
+
+# Dry run — see what would be fixed, no changes made
+python migerate/fix_usd_metadata.py --root . --dry-run --skip curobo,robot
+
+# Fix example assets only (default)
+python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets
+
+# Fix all USD in project, skip robot/curobo models
+python migerate/fix_usd_metadata.py --root . --skip curobo,robot
+
+# Fix only Aligned_obj.usd files
+python migerate/fix_usd_metadata.py --root . --pattern "Aligned_obj.usd"
+
+# Restore from backups (undo all fixes)
+python migerate/fix_usd_metadata.py --root workflows/simbox/example_assets --restore
+```
+
+**Important:** Do NOT fix robot USD (curobo, split_aloha) — their metersPerUnit/upAxis are intentionally set for their own coordinate systems. Use `--skip` to exclude them.
+
+## Notes
+
+- `plan_single()` occasionally returns None for edge-case target poses (workspace boundary). This is normal and happens in IS 4.5.0 too.
+- Example HDR is only 1k resolution — production should use 4k/8k for better background quality.
+- Example `envmap_lib` only has 1 HDR file — add more for randomization diversity.
+- `non_recyclable_garbage/obj_0` does not exist in example assets (only obj_1~obj_11). Config changed to use `obj_1`.
diff --git a/migerate/scan_usd_metadata.py b/migerate/scan_usd_metadata.py
new file mode 100644
index 0000000..8271c19
--- /dev/null
+++ b/migerate/scan_usd_metadata.py
@@ -0,0 +1,70 @@
+"""
+Scan all USD files in the project and report their metersPerUnit / upAxis metadata.
+
+Usage:
+    python migerate/scan_usd_metadata.py [--root DIR]
+
+Default root: current working directory (project root).
+"""
+import argparse
+import glob
+import os
+import sys
+
+from pxr import Usd, UsdGeom
+
+
+def scan(root: str, target_mpu: float = 1.0, target_up: str = "Z"):
+    usd_files = glob.glob(os.path.join(root, "**", "*.usd"), recursive=True)
+    usd_files = [f for f in usd_files if not f.endswith(".bak")]
+    usd_files.sort()
+
+    ok_files = []
+    diff_files = []
+    error_files = []
+
+    for fpath in usd_files:
+        try:
+            stage = Usd.Stage.Open(fpath)
+            if stage is None:
+                error_files.append((fpath, "Cannot open stage"))
+                continue
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            up = UsdGeom.GetStageUpAxis(stage)
+            rel = os.path.relpath(fpath, root)
+            if mpu == target_mpu and up == target_up:
+                ok_files.append((rel, mpu, up))
+            else:
+                diff_files.append((rel, mpu, up))
+        except Exception as e:
+            error_files.append((fpath, str(e)))
+
+    # Report
+    print(f"Scanned {len(ok_files) + len(diff_files) + len(error_files)} USD files under: {root}")
+    print(f"  OK (mpu={target_mpu}, up={target_up}): {len(ok_files)}")
+    print(f"  Different: {len(diff_files)}")
+    print(f"  Errors: {len(error_files)}")
+
+    if diff_files:
+        print(f"\n{'='*80}")
+        print(f"Files with non-standard metadata (mpu != {target_mpu} or up != {target_up}):")
+        print(f"{'='*80}")
+        for rel, mpu, up in diff_files:
+            print(f"  mpu={mpu:<8} up={up:<4}  {rel}")
+
+    if error_files:
+        print(f"\n{'='*80}")
+        print("Files with errors:")
+        print(f"{'='*80}")
+        for fpath, err in error_files:
+            print(f"  ERROR: {fpath} -> {err}")
+
+    return diff_files
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Scan USD files for metersPerUnit/upAxis metadata")
+    parser.add_argument("--root", default=os.getcwd(), help="Root directory to scan (default: cwd)")
+    args = parser.parse_args()
+    diff = scan(args.root)
+    sys.exit(1 if diff else 0)
\ No newline at end of file
diff --git a/scripts/download_assets_direct.py b/scripts/download_assets_direct.py
new file mode 100644
index 0000000..c7adecd
--- /dev/null
+++ b/scripts/download_assets_direct.py
@@ -0,0 +1,168 @@
+#!/usr/bin/env python3
+"""
+Direct HuggingFace dataset downloader that avoids full repo enumeration.
+Uses the HF tree API per-directory, then downloads files via HTTP.
+
+Usage:
+    python scripts/download_assets_direct.py [OPTIONS]
+
+Options:
+    --min           Download only required scene assets
+    --full          Download all scene assets (default)
+    --with-curobo   Also download CuRobo package
+    --with-drake    Also download panda_drake package
+    --local-dir DIR Where to save (default: current directory)
+    --mirror URL    HF mirror base URL (default: https://hf-mirror.com)
+"""
+
+import os
+import sys
+import argparse
+import time
+from pathlib import Path
+from concurrent.futures import ThreadPoolExecutor, as_completed
+
+import requests
+
+REPO_ID = "InternRobotics/InternData-A1"
+ASSET_PREFIX = "InternDataAssets"
+
+def get_token():
+    token = os.environ.get("HF_TOKEN", "")
+    if not token:
+        token_file = Path.home() / ".cache/huggingface/token"
+        if token_file.exists():
+            token = token_file.read_text().strip()
+    return token
+
+def list_dir(api_base, repo_id, path, token, session):
+    """List files in a specific directory via HF tree API (non-recursive for speed)."""
+    url = f"{api_base}/api/datasets/{repo_id}/tree/main/{path}"
+    headers = {"Authorization": f"Bearer {token}"} if token else {}
+    files = []
+    cursor = None
+    while True:
+        params = {"expand": "false", "recursive": "true", "limit": "1000"}
+        if cursor:
+            params["cursor"] = cursor
+        r = session.get(url, headers=headers, params=params, timeout=30)
+        r.raise_for_status()
+        data = r.json()
+        if isinstance(data, list):
+            items = data
+            cursor = None
+        else:
+            items = data.get("items", [])
+            cursor = data.get("nextCursor")
+        for item in items:
+            if item.get("type") == "file":
+                files.append(item["path"])
+        if not cursor or not items:
+            break
+    return files
+
+def download_file(mirror_base, repo_id, file_path, local_dir, token, session):
+    """Download a single file."""
+    url = f"{mirror_base}/datasets/{repo_id}/resolve/main/{file_path}"
+    headers = {"Authorization": f"Bearer {token}"} if token else {}
+    local_path = Path(local_dir) / file_path
+    local_path.parent.mkdir(parents=True, exist_ok=True)
+    if local_path.exists():
+        return file_path, "skipped"
+    for attempt in range(3):
+        try:
+            with session.get(url, headers=headers, stream=True, timeout=60) as r:
+                r.raise_for_status()
+                with open(local_path, "wb") as f:
+                    for chunk in r.iter_content(chunk_size=1024 * 1024):
+                        f.write(chunk)
+            return file_path, "ok"
+        except Exception as e:
+            if attempt == 2:
+                return file_path, f"error: {e}"
+            time.sleep(2 ** attempt)
+
+def download_dir(api_base, mirror_base, repo_id, path, local_dir, token, label, workers=8):
+    print(f"[INFO] Listing {label} ...")
+    session = requests.Session()
+    try:
+        files = list_dir(api_base, repo_id, path, token, session)
+    except Exception as e:
+        print(f"[ERROR] Failed to list {path}: {e}")
+        return
+    print(f"[INFO] Downloading {label} ({len(files)} files) ...")
+    errors = []
+    done = 0
+    with ThreadPoolExecutor(max_workers=workers) as pool:
+        futures = {pool.submit(download_file, mirror_base, repo_id, f, local_dir, token, session): f for f in files}
+        for fut in as_completed(futures):
+            fp, status = fut.result()
+            done += 1
+            if "error" in status:
+                errors.append((fp, status))
+                print(f"  [{done}/{len(files)}] FAIL {fp}: {status}")
+            else:
+                print(f"  [{done}/{len(files)}] {status.upper()} {fp}", end="\r")
+    print()
+    if errors:
+        print(f"[WARN] {len(errors)} files failed in {label}")
+
+def download_file_single(api_base, mirror_base, repo_id, file_path, local_dir, token, label):
+    print(f"[INFO] Downloading {label} ...")
+    session = requests.Session()
+    fp, status = download_file(mirror_base, repo_id, file_path, local_dir, token, session)
+    if "error" in status:
+        print(f"[ERROR] {fp}: {status}")
+    else:
+        print(f"[INFO] {label} done.")
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--min", action="store_true")
+    parser.add_argument("--full", action="store_true")
+    parser.add_argument("--with-curobo", action="store_true")
+    parser.add_argument("--with-drake", action="store_true")
+    parser.add_argument("--local-dir", default=".")
+    parser.add_argument("--mirror", default="https://hf-mirror.com")
+    parser.add_argument("--workers", type=int, default=8)
+    args = parser.parse_args()
+
+    mode = "min" if args.min else "full"
+    mirror = os.environ.get("HF_ENDPOINT", args.mirror).rstrip("/")
+    api_base = mirror
+    token = get_token()
+    local_dir = args.local_dir
+
+    if not token:
+        print("[WARN] No HF token found. Gated datasets will fail.")
+
+    print(f"[INFO] Mirror: {mirror}, mode={mode}, curobo={args.with_curobo}, drake={args.with_drake}")
+
+    base = f"{ASSET_PREFIX}/assets"
+
+    # Required scene assets
+    print("[INFO] ========== Downloading required scene assets ==========")
+    for d in ["background_textures", "envmap_lib", "floor_textures", "table_textures", "table0"]:
+        download_dir(api_base, mirror, REPO_ID, f"{base}/{d}", local_dir, token, d, args.workers)
+    download_file_single(api_base, mirror, REPO_ID, f"{base}/table_info.json", local_dir, token, "table_info.json")
+
+    # Full mode extras
+    if mode == "full":
+        print("[INFO] ========== Downloading all robots and tasks ==========")
+        for robot in ["lift2", "franka", "frankarobotiq", "split_aloha_mid_360", "G1_120s"]:
+            download_dir(api_base, mirror, REPO_ID, f"{base}/{robot}", local_dir, token, f"robot:{robot}", args.workers)
+        for task in ["basic", "art", "long_horizon", "pick_and_place"]:
+            download_dir(api_base, mirror, REPO_ID, f"{base}/{task}", local_dir, token, f"task:{task}", args.workers)
+
+    if args.with_curobo:
+        print("[INFO] ========== Downloading CuRobo ==========")
+        download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/curobo", local_dir, token, "curobo", args.workers)
+
+    if args.with_drake:
+        print("[INFO] ========== Downloading panda_drake ==========")
+        download_dir(api_base, mirror, REPO_ID, f"{ASSET_PREFIX}/panda_drake", local_dir, token, "panda_drake", args.workers)
+
+    print(f"[INFO] Done!")
+
+if __name__ == "__main__":
+    main()
diff --git a/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml b/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml
index a5b2450..a4969c6 100644
--- a/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml
+++ b/workflows/simbox/core/configs/tasks/example/sort_the_rubbish.yaml
@@ -29,7 +29,7 @@ tasks:
     objects:
       -
         name: pick_object_left
-        path: task/sort_the_rubbish/non_recyclable_garbage/obj_0/Aligned_obj.usd
+        path: task/sort_the_rubbish/non_recyclable_garbage/obj_1/Aligned_obj.usd
         target_class: RigidObject
         dataset: oo3d
         category: bottle
diff --git a/workflows/simbox/core/controllers/template_controller.py b/workflows/simbox/core/controllers/template_controller.py
index fc03990..a53281b 100644
--- a/workflows/simbox/core/controllers/template_controller.py
+++ b/workflows/simbox/core/controllers/template_controller.py
@@ -249,6 +249,12 @@ class TemplateController(BaseController):
         obstacles = self.usd_help.get_obstacles_from_stage(
             ignore_substring=self.ignore_substring, reference_prim_path=self.reference_prim_path
         ).get_collision_check_world()
+        # Diagnostic: print what curobo sees as the collision world
+        n_cuboid = len(obstacles.cuboid) if obstacles.cuboid else 0
+        n_mesh = len(obstacles.mesh) if obstacles.mesh else 0
+        mesh_names = [m.name for m in obstacles.mesh] if obstacles.mesh else []
+        print(f"[CUROBO_WORLD] cuboids={n_cuboid}, meshes={n_mesh}, "
+              f"mesh_names={mesh_names[:5]}{'...' if n_mesh > 5 else ''}", flush=True)
         if self.motion_gen is not None:
             self.motion_gen.update_world(obstacles)
         self.world_cfg = obstacles
@@ -277,6 +283,10 @@ class TemplateController(BaseController):
         self.T_world_base_init = get_relative_transform(
             get_prim_at_path(self.robot_base_path), get_prim_at_path(self.task.root_prim_path)
         )
+        print(f"[TRANSFORM_DBG] robot_base_path={self.robot_base_path}", flush=True)
+        print(f"[TRANSFORM_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init translation={self.T_world_base_init[:3, 3]}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init full=\n{self.T_world_base_init}", flush=True)
         self.T_world_ee_init = self.T_world_base_init @ self.T_base_ee_init
         self._ee_trans, self._ee_ori = self.get_ee_pose()
         self._ee_trans = self.tensor_args.to_device(self._ee_trans)
diff --git a/workflows/simbox/core/objects/rigid_object.py b/workflows/simbox/core/objects/rigid_object.py
index c6ca2c9..5e0c162 100644
--- a/workflows/simbox/core/objects/rigid_object.py
+++ b/workflows/simbox/core/objects/rigid_object.py
@@ -47,6 +47,21 @@ class RigidObject(RigidPrim):
         self.base_prim_path = prim_path
         rigid_prim_path = os.path.join(self.base_prim_path, cfg["prim_path_child"])
         self.mesh_prim_path = str(get_prim_at_path(rigid_prim_path).GetChildren()[0].GetPrimPath())
+        # [LOAD_DBG] Print xformOps right after create_prim, before physics
+        try:
+            from pxr import UsdGeom
+            _xf = UsdGeom.Xformable(get_prim_at_path(rigid_prim_path))
+            for _op in _xf.GetOrderedXformOps():
+                print(f"[LOAD_DBG] {cfg_name} after_create_prim: {_op.GetName()} = {_op.Get()}", flush=True)
+            _l2w = _xf.ComputeLocalToWorldTransform(0)
+            print(f"[LOAD_DBG] {cfg_name} after_create_prim l2w=({_l2w[3][0]:.6f}, {_l2w[3][1]:.6f}, {_l2w[3][2]:.6f})", flush=True)
+            # Also check the USD file's own metersPerUnit
+            _ref_stage = get_prim_at_path(prim_path).GetStage()
+            _mpu = UsdGeom.GetStageMetersPerUnit(_ref_stage)
+            _up = UsdGeom.GetStageUpAxis(_ref_stage)
+            print(f"[LOAD_DBG] {cfg_name} stage metersPerUnit={_mpu} upAxis={_up}", flush=True)
+        except Exception as _e:
+            print(f"[LOAD_DBG] {cfg_name} error: {_e}", flush=True)
         super().__init__(prim_path=rigid_prim_path, name=cfg["name"], *args, **kwargs)
 
     def get_observations(self):
diff --git a/workflows/simbox/core/skills/pick.py b/workflows/simbox/core/skills/pick.py
index b21b7fc..b0f4600 100644
--- a/workflows/simbox/core/skills/pick.py
+++ b/workflows/simbox/core/skills/pick.py
@@ -284,8 +284,49 @@ class Pick(BaseSkill):
         if frame == "body":
             return self.T_obj_ee
 
-        T_world_obj = tf_matrix_from_pose(*self.pick_obj.get_local_pose())
+        local_pose = self.pick_obj.get_local_pose()
+        world_pose = self.pick_obj.get_world_pose()
+        print(f"[PICK_DBG] prim_path={self.pick_obj.prim_path}", flush=True)
+        print(f"[PICK_DBG] local_pose  trans={local_pose[0]}", flush=True)
+        print(f"[PICK_DBG] world_pose  trans={world_pose[0]}", flush=True)
+        print(f"[PICK_DBG] local_pose  ori={local_pose[1]}", flush=True)
+        print(f"[PICK_DBG] world_pose  ori={world_pose[1]}", flush=True)
+        parent_prim = get_prim_at_path(self.pick_obj.prim_path).GetParent()
+        print(f"[PICK_DBG] parent_prim_path={parent_prim.GetPrimPath()}", flush=True)
+        grandparent_prim = parent_prim.GetParent()
+        print(f"[PICK_DBG] grandparent_prim_path={grandparent_prim.GetPrimPath()}", flush=True)
+        try:
+            from pxr import UsdGeom
+            obj_prim = get_prim_at_path(self.pick_obj.prim_path)
+            obj_xf = UsdGeom.Xformable(obj_prim)
+            xform_ops = obj_xf.GetOrderedXformOps()
+            print(f"[PICK_DBG] obj_xformOps_count={len(xform_ops)}", flush=True)
+            for op in xform_ops:
+                print(f"[PICK_DBG] obj_xformOp: {op.GetName()} val={op.Get()}", flush=True)
+            obj_l2w = obj_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] obj_USD_l2w=({obj_l2w[3][0]:.6f}, {obj_l2w[3][1]:.6f}, {obj_l2w[3][2]:.6f})", flush=True)
+            parent_xf = UsdGeom.Xformable(parent_prim)
+            parent_l2w = parent_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] parent_l2w_translate=({parent_l2w[3][0]}, {parent_l2w[3][1]}, {parent_l2w[3][2]})", flush=True)
+            gp_xf = UsdGeom.Xformable(grandparent_prim)
+            gp_l2w = gp_xf.ComputeLocalToWorldTransform(0)
+            print(f"[PICK_DBG] grandparent_l2w_translate=({gp_l2w[3][0]}, {gp_l2w[3][1]}, {gp_l2w[3][2]})", flush=True)
+            stage = parent_prim.GetStage()
+            mpu = UsdGeom.GetStageMetersPerUnit(stage)
+            print(f"[PICK_DBG] stage_metersPerUnit={mpu}", flush=True)
+            # Check get_local_pose source
+            glp_method = type(self.pick_obj).get_local_pose
+            print(f"[PICK_DBG] get_local_pose_from={glp_method.__qualname__}", flush=True)
+        except Exception as e:
+            import traceback
+            print(f"[PICK_DBG] UsdGeom error: {e}", flush=True)
+            traceback.print_exc()
+        print(f"[PICK_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
+        print(f"[PICK_DBG] reference_prim_path={self.controller.reference_prim_path}", flush=True)
+        T_world_obj = tf_matrix_from_pose(*local_pose)
+        print(f"[PICK_DBG] T_world_obj translation={T_world_obj[:3,3]}", flush=True)
         T_world_ee = T_world_obj[None] @ self.T_obj_ee
+        print(f"[PICK_DBG] T_world_ee[0] translation={T_world_ee[0,:3,3]}", flush=True)
 
         if frame == "world":
             return T_world_ee
@@ -294,8 +335,11 @@ class Pick(BaseSkill):
             T_world_base = get_relative_transform(
                 get_prim_at_path(self.controller.reference_prim_path), get_prim_at_path(self.task.root_prim_path)
             )
+            print(f"[PICK_DBG] T_world_base translation={T_world_base[:3,3]}", flush=True)
             T_base_world = np.linalg.inv(T_world_base)
+            print(f"[PICK_DBG] T_base_world translation={T_base_world[:3,3]}", flush=True)
             T_base_ee = T_base_world[None] @ T_world_ee
+            print(f"[PICK_DBG] T_base_ee[0] translation={T_base_ee[0,:3,3]}", flush=True)
             return T_base_ee
 
     def get_contact(self, contact_threshold=0.0):
diff --git a/workflows/simbox/core/skills/track.py b/workflows/simbox/core/skills/track.py
index f8a22f8..5d8888b 100644
--- a/workflows/simbox/core/skills/track.py
+++ b/workflows/simbox/core/skills/track.py
@@ -143,6 +143,8 @@ class Track(BaseSkill):
     def cal_table_2_base(self):
         tgt = self.task.fixtures["table"]
         bbox_tgt = compute_bbox(tgt.prim)
+        print(f"[BBOX_DBG] table bbox min={list(bbox_tgt.min)}, max={list(bbox_tgt.max)}", flush=True)
+        print(f"[BBOX_DBG] T_base_2_world translation={self.T_base_2_world[:3, 3]}", flush=True)
         table_center = (np.asarray(bbox_tgt.min) + np.asarray(bbox_tgt.max)) / 2
         tgt_z_max = bbox_tgt.max[2]
         table_center[2] = tgt_z_max
diff --git a/workflows/simbox/core/tasks/banana.py b/workflows/simbox/core/tasks/banana.py
index 97844be..b8d1030 100644
--- a/workflows/simbox/core/tasks/banana.py
+++ b/workflows/simbox/core/tasks/banana.py
@@ -335,6 +335,14 @@ class BananaBaseTask(BaseTask):
         orientation = get_orientation(cfg.get("euler"), cfg.get("quaternion"))
         obj.set_local_pose(translation=cfg.get("translation"), orientation=orientation)
         obj.set_local_scale(cfg.get("scale", [1.0, 1.0, 1.0]))
+        # [LOAD_DBG] Print after set_local_pose
+        try:
+            from pxr import UsdGeom
+            _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+            for _op in _xf.GetOrderedXformOps():
+                print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose error: {_e}", flush=True)
         obj.set_visibility(cfg.get("visible", True))
 
         # Extra behavior per type
@@ -490,7 +498,7 @@ class BananaBaseTask(BaseTask):
             if cfg.get("apply_randomization", False):
                 envmap_id = random.randint(0, len(envmap_hdr_path_list) - 1)
                 intensity = random.uniform(cfg["intensity_range"][0], cfg["intensity_range"][1])
-                rotation = [random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1]) for _ in range(3)]
+                rotation = [0.0, 0.0, random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1])]
             else:
                 envmap_id = 0
                 intensity = 1000.0
diff --git a/workflows/simbox/example_assets/table0/instance.usd b/workflows/simbox/example_assets/table0/instance.usd
index 2b1b58c..b19faf1 100644
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diff --git a/workflows/simbox_dual_workflow.py b/workflows/simbox_dual_workflow.py
index 7b8e9b6..42befe3 100644
--- a/workflows/simbox_dual_workflow.py
+++ b/workflows/simbox_dual_workflow.py
@@ -159,13 +159,44 @@ class SimBoxDualWorkFlow(NimbusWorkFlow):
             global_collision_paths,
         )
         self.world.reset()
+        # [RESET_DBG] Check object xformOps right after world.reset()
+        try:
+            from pxr import UsdGeom
+            for obj_name, obj in self.task.objects.items():
+                _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                for _op in _xf.GetOrderedXformOps():
+                    if 'translate' in _op.GetName().lower():
+                        print(f"[RESET_DBG] {obj_name} after_world_reset: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[RESET_DBG] after_world_reset error: {_e}", flush=True)
+
         self.world.step(render=True)
+        # [RESET_DBG] Check after first world.step(render=True)
+        try:
+            for obj_name, obj in self.task.objects.items():
+                _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                for _op in _xf.GetOrderedXformOps():
+                    if 'translate' in _op.GetName().lower():
+                        print(f"[RESET_DBG] {obj_name} after_first_step: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[RESET_DBG] after_first_step error: {_e}", flush=True)
+
         self.controllers = self._initialize_controllers(self.task, self.task_cfg, self.world)
         self.skills = self._initialize_skills(self.task, self.task_cfg, self.controllers, self.world)
 
-        for _ in range(50):
+        for _i in range(50):
             self._init_static_objects(self.task)
             self.world.step(render=False)
+            # [RESET_DBG] Check at step 0, 1, 49
+            if _i in (0, 1, 49):
+                try:
+                    for obj_name, obj in self.task.objects.items():
+                        _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                        for _op in _xf.GetOrderedXformOps():
+                            if 'translate' in _op.GetName().lower():
+                                print(f"[RESET_DBG] {obj_name} after_warmup_step_{_i}: {_op.GetName()} = {_op.Get()}", flush=True)
+                except Exception as _e:
+                    print(f"[RESET_DBG] after_warmup_step_{_i} error: {_e}", flush=True)
 
         self.logger = LmdbLogger(
             task_dir=self.task_cfg["data"]["task_dir"],