[Question] Replay Demo Crash from Contact Sensors

[csabahi]

Question

I am working with to get use imitation learning to learn dextrous manipulation on my Unitree G1 29Dof. I have recorded some demos with the CloudXR docker container with my Meta quest and when I went to replay the demonstrations to then annotate, there are crashes.

From what I gather it has to do something with the ContactSensors?

I have attached a snippet of my crash log below

crash_2026-02-19_13-49-15_164125.txt

[crash]  lastCommand = 'ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/mesh.primvars:invisibleToSecondaryRays,value=True,prev=?,type_to_create_if_not_exist=?)'
[crash]  lastCommands = 'BindMaterialCommand(prim_path=/Visuals/ContactSensor_23/contact/geometry/mesh,material_path=/Visuals/ContactSensor_23/contact/geometry/material,strength=strongerThanDescendants,stage=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/contact/geometry/mesh.primvars:invisibleToSecondaryRays,value=True,prev=?,type_to_create_if_not_exist=?),CreatePreviewSurfaceMaterialPrim(mtl_path=/Visuals/ContactSensor_23/no_contact/geometry/material,select_new_prim=False),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/material/Shader.inputs:diffuseColor,value=?,prev=?,type_to_create_if_not_exist=?,usd_context_name=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/material/Shader.inputs:emissiveColor,value=?,prev=?,type_to_create_if_not_exist=?,usd_context_name=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/material/Shader.inputs:roughness,value=0.5,prev=?,type_to_create_if_not_exist=?,usd_context_name=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/material/Shader.inputs:metallic,value=0.0,prev=?,type_to_create_if_not_exist=?,usd_context_name=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/material/Shader.inputs:opacity,value=1.0,prev=?,type_to_create_if_not_exist=?,usd_context_name=?),BindMaterialCommand(prim_path=/Visuals/ContactSensor_23/no_contact/geometry/mesh,material_path=/Visuals/ContactSensor_23/no_contact/geometry/material,strength=strongerThanDescendants,stage=?),ChangePropertyCommand(prop_path=/Visuals/ContactSensor_23/no_contact/geometry/mesh.primvars:invisibleToSecondaryRays,value=True,prev=?,type_to_create_if_not_exist=?)'

Build Info

• Isaac Lab Version: 2.3.1
• Isaac Sim Version: 5.1