docs/debug.md

Debugging

RoboLab provides three global flags in robolab.constants for controlling debug output and visualization. All are False by default.

Flags

VERBOSE

Prints detailed operational information during environment setup and execution:

• Environment registration — Prints the full environment table after registration
• Environment creation — Logs event merging, env config saving
• Episode recording — Logs data export progress
• Subtask state machine — Prints the current subtask state and object tracker after each state change
• Pose randomization — Logs per-object randomization ranges, bounding radii, and before/after positions
• Camera operations — Logs camera pose randomization, resets, and warnings for missing sensors
• Contact detection — Logs which objects the gripper is in contact with, sensor mismatches

Enable via CLI:

python policies/pi0_family/run.py --enable-verbose

Enable programmatically:

import robolab.constants
robolab.constants.VERBOSE = True

DEBUG

Prints per-step conditional evaluation results. This is very detailed and produces output every simulation step — useful for diagnosing why a specific subtask condition is or isn't being satisfied.

Covers all conditional functions in robolab.core.task.conditionals:

• object_grabbed, object_dropped, object_picked_up
• object_in_container, object_on_top, object_on_bottom, object_on_center
• object_left_of, object_right_of, object_in_front_of, object_behind
• object_above, object_below, object_below_top
• object_enclosed, object_inside, object_outside_of
• object_upright, object_at, object_between, object_next_to
• stacked, objects_in_line, objects_stationary
• wrong_object_grabbed, gripper_hit_table, gripper_fully_closed
• Subtask state machine advancement and regression

Enable via CLI:

python policies/pi0_family/run.py --enable-debug

Enable programmatically:

import robolab.constants
robolab.constants.DEBUG = True

VISUALIZE

Renders bounding boxes and pose axes for all tracked objects in the viewport at every simulation step. Used inside the episode loop in robolab/eval/episode.py.

Enable programmatically:

import robolab.constants
robolab.constants.VISUALIZE = True

When enabled, every step calls get_world(env).visualize(), which draws the oriented bounding box and coordinate axes for each object in the scene.

World State Visualization

You can also call the visualization API directly at any point during execution, independently of the VISUALIZE flag:

from robolab.core.world.world_state import get_world

world = get_world(env)

# Visualize all tracked objects
world.visualize()

# Visualize specific objects only
world.visualize(["bowl", "banana"])

This draws bounding boxes and coordinate axes in the viewport:

Combining Flags

You can enable both VERBOSE and DEBUG together for maximum diagnostics:

python policies/pi0_family/run.py --enable-verbose --enable-debug

Flag	Scope	Volume
VERBOSE	Infrastructure (registration, env creation, recording, cameras, pose randomization)	Moderate — logs key operations
DEBUG	Task logic (conditional evaluations, subtask state transitions)	High — prints every step
VISUALIZE	Rendering (bounding boxes, pose axes in viewport)	Visual only — no text output

World State Inspection

WorldState (via get_world(env)) exposes methods useful for interactive debugging beyond visualization:

from robolab.core.world.world_state import get_world

world = get_world(env)

# Object geometry
world.get_pose("banana")              # (position, quaternion)
world.get_velocity("banana")          # (linear, angular)
world.get_dimensions("banana")        # (x, y, z) extents
world.get_aabb("banana")              # Axis-aligned bounding box
world.get_bbox("banana")              # Oriented bounding box corners + centroid
world.get_centroid("banana")          # Center of mass

# Contact queries
world.in_contact("gripper", "banana")                 # bool
world.get_objects_in_contact_with("gripper")           # list of object names
world.get_contact_force("gripper", "banana")           # force magnitude
world.is_supported_on_surface("banana", "table")       # bool
world.get_objects_supported_on("table")                # list of object names

Diagnostic Scripts

Verify environment registration

After registration, print a table of all registered environments to confirm tasks were discovered correctly:

from robolab.core.environments.factory import print_env_table
print_env_table()                       # All environments
print_env_table(tag="pick_place")       # Filter by tag
print_env_table(verbose=True)           # Include full env config details

Or use the pytest test:

uv run pytest tests/test_registered_envs.py -v

Verify tasks are valid

Check that all task files load correctly, have valid fields, and no duplicate names:

uv run pytest tests/test_tasks_valid.py -v                 # all tasks
uv run pytest tests/test_tasks_valid.py -v -k BananaInBowl # one task

Run one full episode

Run a single empty-action episode end-to-end (useful for confirming a task launches and terminates correctly):

uv run pytest tests/test_run_empty.py -v                   # default: BananaInBowlTask
uv run pytest tests/test_run_empty.py -v --task RubiksCubeTask

Verify IsaacLab installation

Minimal smoke test that IsaacLab and IsaacSim launch correctly:

uv run pytest tests/test_isaaclab.py -v

Inspect HDF5 data

View the HDF5 file structure with h5glance (install separately with pip install h5glance):

h5glance output/2026-01-24_15-35-59/BananaInBowlTask/run_0.hdf5

Read subtask status from HDF5

Print subtask completion timeline, status codes, and scores from recorded episodes:

python scripts/read_subtask_status_from_hdf5.py output/.../run_0.hdf5
python scripts/read_subtask_status_from_hdf5.py output/.../run_0.hdf5 -e 0

Check results integrity

Validate that episode results match the HDF5 data (every episode has a matching demo):

python analysis/check_results.py output/2026-01-24_15-35-59
python analysis/check_results.py output/2026-01-24_15-35-59 --verbose --diagnose

See Analysis and Results Parsing for the full set of analysis scripts.

Known Issues

See Known Issues.