[Bug]: Crash after pause and resume

[LNTH]

Bug Description

Hi, thanks for the great work!

I encountered a crash when running the demo and using the Pause and Resume buttons in the GUI.

Steps to Reproduce

1. Run any demo, e.g. python -m internutopia.demo.g1_locomotion
2. Click the Pause button in the GUI
3. Click the Resume button <- crashed

Observed Behavior

• Before and during pausing: origin_obs[0] is a dict containing the key "g1".
• After resuming: origin_obs[0] becomes an empty dict, leading to a KeyError.

2025-10-16 03:00:20 [44,832ms] [Error] [root] 0
[2025-10-16 03:00:20,352][ERROR] /workspace/intern_rb/InternUtopia/internutopia/core/task/task.py[line:173] -: Failed to get rigid body transforms from backend
2025-10-16 03:00:20 [44,832ms] [Error] [root] Failed to get rigid body transforms from backend
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/workspace/intern_rb/InternUtopia/internutopia/core/task/task.py", line 168, in get_observations
    _obs = robot.get_obs()
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/workspace/intern_rb/InternUtopia/internutopia_extension/robots/g1.py", line 70, in get_obs
    position, orientation = self._robot_base.get_pose()
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/workspace/intern_rb/InternUtopia/internutopia/core/util/pose_mixin.py", line 127, in get_pose
    position, orientation = unwrapped.get_world_pose()
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/_impl/single_prim_wrapper.py", line 304, in get_world_pose
    positions, orientations = self._prim_view.get_world_poses()
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/isaac-sim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/rigid_prim.py", line 370, in get_world_poses
    pose = self._physics_view.get_transforms()
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]:   File "/isaac-sim/extsPhysics/omni.physics.tensors/omni/physics/tensors/impl/api.py", line 2856, in get_transforms
    raise Exception("Failed to get rigid body transforms from backend")
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]: Exception: Failed to get rigid body transforms from backend
2025-10-16 03:00:20 [44,833ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):
  File "/isaac-sim/kit/python/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/isaac-sim/kit/python/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/workspace/intern_rb/InternUtopia/internutopia/demo/g1_locomotion.py", line 54, in <module>
    obs, _, terminated, _, _ = env.step(action=env_action)
  File "/workspace/intern_rb/InternUtopia/internutopia/core/gym_env.py", line 137, in step
    obs = origin_obs[0][self._robot_name]
KeyError: 'g1'

Expected Behavior

The demo should resume normally after pausing

Screenshots/Videos

No response

Environment

• OS: Ubuntu 22.04
• GPU: 4070Ti Super - 570.195.03
• InternUtopia: clone from git and installed with pip
• IsaacSim: pull from nvidia ngc

Release version or Commit ID

git rev-parse HEAD = b0a9520

Additional Context

No response

[uzuku]

Hi @LNTH We're looking into the issue.