draven-alg commited on
Commit
5b15ca3
·
verified ·
1 Parent(s): 15fb829

Complete visualization outputs (part 3)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4 +3 -0
  2. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4 +3 -0
  3. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_3.mp4 +3 -0
  4. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_3_viewport.mp4 +3 -0
  5. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_4.mp4 +3 -0
  6. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_4_viewport.mp4 +3 -0
  7. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_5.mp4 +3 -0
  8. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_5_viewport.mp4 +3 -0
  9. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_6.mp4 +3 -0
  10. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_6_viewport.mp4 +3 -0
  11. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_7.mp4 +3 -0
  12. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_7_viewport.mp4 +3 -0
  13. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_8.mp4 +3 -0
  14. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_8_viewport.mp4 +3 -0
  15. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_9.mp4 +3 -0
  16. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_9_viewport.mp4 +3 -0
  17. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/env_cfg.json +1 -0
  18. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_0_env0.json +1 -0
  19. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_1_env0.json +1 -0
  20. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_2_env0.json +1 -0
  21. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_3_env0.json +1 -0
  22. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_4_env0.json +1 -0
  23. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_5_env0.json +1 -0
  24. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_6_env0.json +1 -0
  25. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_7_env0.json +1 -0
  26. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_8_env0.json +1 -0
  27. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_9_env0.json +1 -0
  28. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_0.hdf5 +3 -0
  29. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_1.hdf5 +3 -0
  30. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_2.hdf5 +3 -0
  31. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_3.hdf5 +3 -0
  32. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_4.hdf5 +3 -0
  33. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_5.hdf5 +3 -0
  34. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_6.hdf5 +3 -0
  35. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_7.hdf5 +3 -0
  36. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_8.hdf5 +3 -0
  37. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_9.hdf5 +3 -0
  38. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_0.mp4 +3 -0
  39. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_0_viewport.mp4 +3 -0
  40. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_1.mp4 +3 -0
  41. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_1_viewport.mp4 +3 -0
  42. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_2.mp4 +3 -0
  43. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_2_viewport.mp4 +3 -0
  44. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_3.mp4 +3 -0
  45. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_3_viewport.mp4 +3 -0
  46. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_4.mp4 +3 -0
  47. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_4_viewport.mp4 +3 -0
  48. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_5.mp4 +3 -0
  49. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_5_viewport.mp4 +3 -0
  50. harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_6.mp4 +3 -0
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa17c05c88835f37e6352fb2932b79e0c242796e80a04a9bec846672c52cc8f5
3
+ size 9479421
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_2_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37c6b90975b66fba0898b31990c37694adbd432f39d7f926bdaa7aa882b014dd
3
+ size 1580580
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_3.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b10cfd02c474483482506cb256f33df67e66dc0571b79a1de9af3745c05395ef
3
+ size 15608626
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_3_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0186a86efa53be7c52ca867724e62cb5c5684762f6506f9a5fc3c4405cbed77
3
+ size 2573390
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_4.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62516b9c340db8177edaa52b1165777acf12feca2b257353cc46bdf102aef4ef
3
+ size 9201986
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_4_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81cc337a69464a0471d0109edad3d7a01846b3a8d9977273303335f977fdd9f2
3
+ size 1506890
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_5.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c034494b153b3d65d5f399ca29d4c4062e79ac6b0bc75d9914bcc20ef9c5d8ca
3
+ size 17325739
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_5_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c0bbbdaa1c1006ba6875f140afddaf218b59f80a351618cbc2f7495543cf8913
3
+ size 2842248
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_6.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e1cea4e4a6060d6da76270a2bed03904898ff77e92865b26bb79d29ed557503
3
+ size 10699257
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_6_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:889a2cb5d505a579f50b42d4f5ddd21579ba0759a8b215265d119c01693bcdc8
3
+ size 1875528
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_7.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a05ceae49939cc39dbcf3040a7246899d4daf8e2660af3a334a074dfe93c264b
3
+ size 9366472
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_7_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a985da57abc8aab374f5580dfcdb89ab12b715f7940953a7acf2024885a07b9
3
+ size 1640082
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_8.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6aa78605c436a7f5e28acd236f50d62d058d451312b1f9f03bbe753cb7fee13f
3
+ size 13110822
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_8_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db059d6403adffba993ff0d5104871dbe3ece9dd81c3ace89119036df762e143
3
+ size 2317152
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_9.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce88209bd35f127144011baf63f4fb98cfccc60c471dff94107adc3de15bc003
3
+ size 11927126
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/Pick_up_the_banana_and_place_it_in_the_bowl_9_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fcc2429a4ff56e72075816bf56e27521484fe62c89508024286b509ec515e5a
3
+ size 1919750
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/env_cfg.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"viewer": {"eye": [1.5, 0.0, 1.0], "lookat": [0.2, 0.0, 0.0], "cam_prim_path": "/OmniverseKit_Persp", "resolution": [1280, 720], "origin_type": "world", "env_index": 0, "asset_name": null, "body_name": null}, "sim": {"physics_prim_path": "/physicsScene", "device": "cuda:0", "dt": 0.008333333333333333, "render_interval": 8, "gravity": [0.0, 0.0, -9.81], "enable_scene_query_support": false, "use_fabric": true, "physx": {"solver_type": 1, "solve_articulation_contact_last": false, "min_position_iteration_count": 1, "max_position_iteration_count": 32, "min_velocity_iteration_count": 0, "max_velocity_iteration_count": 1, "enable_ccd": true, "enable_stabilization": false, "enable_external_forces_every_iteration": false, "enable_enhanced_determinism": false, "bounce_threshold_velocity": 0.2, "friction_offset_threshold": 0.04, "friction_correlation_distance": 0.025, "gpu_max_rigid_contact_count": 8388608, "gpu_max_rigid_patch_count": 163840, "gpu_found_lost_pairs_capacity": 2097152, "gpu_found_lost_aggregate_pairs_capacity": 33554432, "gpu_total_aggregate_pairs_capacity": 2097152, "gpu_collision_stack_size": 1073741824, "gpu_heap_capacity": 1073741824, "gpu_temp_buffer_capacity": 1073741824, "gpu_max_num_partitions": 8, "gpu_max_soft_body_contacts": 1048576, "gpu_max_particle_contacts": 1048576}, "physics_material": {"func": "isaaclab.sim.spawners.materials.physics_materials:spawn_rigid_body_material", "static_friction": 0.5, "dynamic_friction": 0.5, "restitution": 0.0, "friction_combine_mode": "average", "restitution_combine_mode": "average", "compliant_contact_stiffness": 0.0, "compliant_contact_damping": 0.0}, "render": {"enable_translucency": null, "enable_reflections": null, "enable_global_illumination": null, "antialiasing_mode": null, "enable_dlssg": null, "enable_dl_denoiser": null, "dlss_mode": null, "enable_direct_lighting": null, "samples_per_pixel": null, "enable_shadows": null, "enable_ambient_occlusion": null, "dome_light_upper_lower_strategy": null, "max_bounces": null, "split_glass": null, "split_clearcoat": null, "split_rough_reflection": null, "ambient_light_intensity": null, "ambient_occlusion_denoiser_mode": null, "subpixel_mode": null, "enable_cached_raytracing": null, "max_samples_per_launch": null, "view_tile_limit": null, "carb_settings": {"/rtx/rendermode": "RaytracedLighting"}, "rendering_mode": null}, "create_stage_in_memory": false, "logging_level": "WARNING", "save_logs_to_file": true, "log_dir": null}, "ui_window_class_type": "isaaclab.envs.ui.manager_based_rl_env_window:ManagerBasedRLEnvWindow", "seed": 0, "decimation": 8, "scene": {"dome_light": {"class_type": null, "prim_path": "/World/background", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "DomeLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 500.0, "texture_file": "/home/myx/codebase/third_party/RoboLab/assets/backgrounds/default/home_office.exr", "texture_format": "latlong", "visible_in_primary_ray": true}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "sphere_light": {"class_type": null, "prim_path": "/World/envs/env_.*/sphere", "spawn": {"func": "isaaclab.sim.spawners.lights.lights:spawn_light", "visible": true, "semantic_tags": null, "copy_from_source": true, "prim_type": "SphereLight", "color": [1.0, 1.0, 1.0], "enable_color_temperature": false, "color_temperature": 6500.0, "normalize": false, "exposure": 0.0, "intensity": 5000, "radius": 0.5, "treat_as_point": false}, "init_state": {"pos": [0.0, -0.6, 0.7], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "egocentric_mirrored_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/egocentric_mirrored_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [1.5, 0.0, 1.0], "rot": [0.653, 0.271, 0.271, 0.653], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 24.0, "focus_distance": 400.0, "f_stop": 0.0, "horizontal_aperture": 20.955, "vertical_aperture": 15.29, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 864, "height": 480, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "over_shoulder_left_camera": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/over_shoulder_left_camera", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.05, 0.57, 0.66], "rot": [-0.393, -0.195, 0.399, 0.805], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.1, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "num_envs": 1, "env_spacing": 10.0, "lazy_sensor_update": true, "replicate_physics": true, "filter_collisions": true, "clone_in_fabric": false, "robot": {"class_type": "isaaclab.assets.articulation.articulation:Articulation", "prim_path": "/World/envs/env_.*/robot", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": {"rigid_body_enabled": null, "kinematic_enabled": null, "disable_gravity": true, "linear_damping": null, "angular_damping": null, "max_linear_velocity": null, "max_angular_velocity": null, "max_depenetration_velocity": 5.0, "max_contact_impulse": null, "enable_gyroscopic_forces": null, "retain_accelerations": null, "solver_position_iteration_count": null, "solver_velocity_iteration_count": null, "sleep_threshold": null, "stabilization_threshold": null}, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": {"articulation_enabled": null, "enabled_self_collisions": false, "solver_position_iteration_count": 64, "solver_velocity_iteration_count": 0, "sleep_threshold": null, "stabilization_threshold": null, "fix_root_link": null}, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/robots/franka_robotiq_2f_85_flattened.usd", "variants": null}, "init_state": {"pos": [0, 0, 0], "rot": [1, 0, 0, 0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0], "joint_pos": {"panda_joint1": 0.0, "panda_joint2": -0.6283185307179586, "panda_joint3": 0.0, "panda_joint4": -2.5132741228718345, "panda_joint5": 0.0, "panda_joint6": 1.8849555921538759, "panda_joint7": 0, "finger_joint": 0.0, "right_outer.*": 0.0, "left_inner.*": 0.0, "right_inner.*": 0.0}, "joint_vel": {".*": 0.0}}, "collision_group": 0, "debug_vis": false, "articulation_root_prim_path": null, "soft_joint_pos_limit_factor": 1, "actuators": {"panda_shoulder": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[1-4]"], "effort_limit": 87.0, "velocity_limit": 2.175, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "panda_forearm": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["panda_joint[5-7]"], "effort_limit": 12.0, "velocity_limit": 2.61, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": 400.0, "damping": 80.0, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}, "gripper": {"class_type": "isaaclab.actuators.actuator_pd:ImplicitActuator", "joint_names_expr": ["finger_joint"], "effort_limit": null, "velocity_limit": 5.0, "effort_limit_sim": null, "velocity_limit_sim": null, "stiffness": null, "damping": null, "armature": null, "friction": null, "dynamic_friction": null, "viscous_friction": null}}, "actuator_value_resolution_debug_print": false}, "wrist_cam": {"class_type": "isaaclab.sensors.camera.tiled_camera:TiledCamera", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link/wrist_cam", "update_period": 0.0, "history_length": 0, "debug_vis": false, "offset": {"pos": [0.011, -0.031, -0.074], "rot": [-0.42, 0.57, 0.576, -0.409], "convention": "opengl"}, "spawn": {"func": "isaaclab.sim.spawners.sensors.sensors:spawn_camera", "visible": true, "semantic_tags": null, "copy_from_source": true, "projection_type": "pinhole", "clipping_range": [0.01, 1000000.0], "focal_length": 2.8, "focus_distance": 28.0, "f_stop": 0.0, "horizontal_aperture": 5.376, "vertical_aperture": 3.024, "horizontal_aperture_offset": 0.0, "vertical_aperture_offset": 0.0, "lock_camera": true}, "depth_clipping_behavior": "none", "data_types": ["rgb"], "width": 1280, "height": 720, "update_latest_camera_pose": false, "semantic_filter": "*:*", "colorize_semantic_segmentation": true, "colorize_instance_id_segmentation": true, "colorize_instance_segmentation": true, "semantic_segmentation_mapping": {}}, "frames": {"class_type": "isaaclab.sensors.frame_transformer.frame_transformer:FrameTransformer", "prim_path": "/World/envs/env_.*/robot/panda_link0", "update_period": 0.0, "history_length": 0, "debug_vis": false, "source_frame_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "target_frames": [{"prim_path": "/World/envs/env_.*/robot/panda_link0", "name": "panda_link0", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link1", "name": "panda_link1", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link2", "name": "panda_link2", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link3", "name": "panda_link3", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link4", "name": "panda_link4", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link5", "name": "panda_link5", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link6", "name": "panda_link6", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/panda_link7", "name": "panda_link7", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "gripper_base", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}}, {"prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/base_link", "name": "eef_frame", "offset": {"pos": [0.0, 0.0, 0.0], "rot": [0.5, -0.5, 0.5, -0.5]}}], "visualizer_cfg": {"prim_path": "/Visuals/TF", "markers": {"frame": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": [0.05, 0.05, 0.05], "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0/Isaac/Props/UIElements/frame_prim.usd", "variants": null}, "connecting_line": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_cylinder", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 1.0, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.002, "height": 1.0, "axis": "Z"}}}}, "table_fixture": {"class_type": null, "prim_path": "/World/envs/env_.*/table_fixture", "spawn": {"func": "isaaclab.sim.spawners.from_files.from_files:spawn_from_usd", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/fixtures/franka_table.usd", "variants": null}, "init_state": {"pos": [-0.087, 0.0, 0.0], "rot": [6.123233995736766e-17, 0.0, 0.0, 1.0]}, "collision_group": 0, "debug_vis": false}, "ee_recorder_bodies": null, "scene": {"class_type": null, "prim_path": "/World/envs/env_.*/scene", "spawn": {"func": "robolab.core.environments.scene_fixture:spawn_scene_without_table_fixture", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "deformable_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": true, "scale": null, "articulation_props": null, "fixed_tendons_props": null, "spatial_tendons_props": null, "joint_drive_props": null, "visual_material_path": "material", "visual_material": null, "usd_path": "/home/myx/codebase/third_party/RoboLab/assets/scenes/banana_bowl.usda", "variants": null}, "init_state": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "table": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/table", "spawn": null, "init_state": {"pos": [0.5471946001052856, -5.8164543588645756e-05, -0.3470015227794647], "rot": [1.0, 0.0, 0.0, 0.0], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "bowl": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/bowl", "spawn": null, "init_state": {"pos": [0.5611012578010559, 0.15261490643024445, 0.030349360778927803], "rot": [0.9999998211860657, -0.00038860940411786313, -0.00045113630375182354, 5.555720606926124e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "banana": {"class_type": "isaaclab.assets.rigid_object.rigid_object:RigidObject", "prim_path": "/World/envs/env_.*/scene/banana", "spawn": null, "init_state": {"pos": [0.5097271203994751, -0.115806944668293, 0.02117740921676159], "rot": [0.9999991655349731, -0.0006239555700669702, -0.0011311464245367135, -1.079676892718864e-05], "lin_vel": [0.0, 0.0, 0.0], "ang_vel": [0.0, 0.0, 0.0]}, "collision_group": 0, "debug_vis": false}, "root_z_above_ground": null, "gripper__all_objs": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana", "/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__banana": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/banana"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "gripper__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/robot/Gripper/Robotiq_2F_85/left_inner_finger", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__bowl": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/bowl"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "banana__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/banana", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}, "bowl__table": {"class_type": "isaaclab.sensors.contact_sensor.contact_sensor:ContactSensor", "prim_path": "/World/envs/env_.*/scene/bowl", "update_period": 0.0, "history_length": 6, "debug_vis": false, "track_pose": false, "track_contact_points": false, "track_friction_forces": false, "max_contact_data_count_per_prim": 4, "track_air_time": false, "force_threshold": 1.0, "filter_prim_paths_expr": ["/World/envs/env_.*/scene/table"], "visualizer_cfg": {"prim_path": "/Visuals/ContactSensor", "markers": {"contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": true, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [1.0, 0.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}, "no_contact": {"func": "isaaclab.sim.spawners.shapes.shapes:spawn_sphere", "visible": false, "semantic_tags": null, "copy_from_source": true, "mass_props": null, "rigid_props": null, "collision_props": null, "activate_contact_sensors": false, "visual_material_path": "material", "visual_material": {"func": "isaaclab.sim.spawners.materials.visual_materials:spawn_preview_surface", "diffuse_color": [0.0, 1.0, 0.0], "emissive_color": [0.0, 0.0, 0.0], "roughness": 0.5, "metallic": 0.0, "opacity": 1.0}, "physics_material_path": "material", "physics_material": null, "radius": 0.02}}}}}, "recorders": {"dataset_file_handler_class_type": "isaaclab.utils.datasets.hdf5_dataset_file_handler:HDF5DatasetFileHandler", "dataset_export_dir_path": "/home/myx/codebase/third_party/RoboLab/output/2026-10-01_05-52-20_harness/BananaInBowlTask", "dataset_filename": "data.hdf5", "dataset_export_mode": {"_value_": 1, "_name_": "EXPORT_ALL", "_sort_order_": 1}, "export_in_record_pre_reset": false, "export_in_close": false, "record_initial_state": {"class_type": "robolab.core.events.basic_recorders:InitialStateRecorder", "camera_names": null}, "record_states": {"class_type": "robolab.core.events.basic_recorders:PostStepStatesRecorder"}, "record_actions": {"class_type": "robolab.core.events.basic_recorders:PreStepActionsRecorder"}, "record_robot_root_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepRobotRootPoseRecorder", "robot_cfg_name": "robot"}, "record_bbox": {"class_type": "robolab.core.events.basic_recorders:PostStepBBoxRecorder"}, "record_policy_observations": null, "record_subtask_completion": {"class_type": "robolab.core.events.subtask_recorder:SubtaskCompletionRecorderTerm", "subtasks": null}, "record_ee_pose": {"class_type": "robolab.core.events.basic_recorders:PostStepEndEffectorPoseRecorder", "robot_cfg_name": "robot", "ee_body_name": "base_link", "record_key": "ee_pose"}}, "observations": {"image_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "over_shoulder_left_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "over_shoulder_left_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "wrist_cam": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "wrist_cam", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "proprio_obs": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "arm_joint_pos": {"func": "robolab.robots.droid:arm_joint_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "gripper_pos": {"func": "robolab.robots.droid:gripper_pos", "params": {}, "modifiers": null, "noise": {"func": "isaaclab.utils.noise.noise_model:gaussian_noise", "operation": "add", "mean": 0.0, "std": 0.05}, "clip": [0, 1], "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_pos": {"func": "robolab.robots.droid:ee_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "ee_quat": {"func": "robolab.robots.droid:ee_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_pos": {"func": "robolab.robots.droid:eef_pos", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}, "eef_quat": {"func": "robolab.robots.droid:eef_quat", "params": {}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}, "viewport_cam": {"concatenate_terms": false, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "egocentric_mirrored_camera": {"func": "isaaclab.envs.mdp.observations:image", "params": {"sensor_cfg": {"name": "egocentric_mirrored_camera", "joint_names": null, "joint_ids": "slice(None, None, None)", "fixed_tendon_names": null, "fixed_tendon_ids": "slice(None, None, None)", "body_names": null, "body_ids": "slice(None, None, None)", "object_collection_names": null, "object_collection_ids": "slice(None, None, None)", "preserve_order": false}, "data_type": "rgb", "normalize": false}, "modifiers": null, "noise": null, "clip": null, "scale": null, "history_length": 0, "flatten_history_dim": true}}}, "actions": {"arm_action": {"class_type": "isaaclab.envs.mdp.actions.task_space_actions:DifferentialInverseKinematicsAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["panda_joint.*"], "body_name": "base_link", "body_offset": {"pos": [0.0, 0.0, 0.0], "rot": [1.0, 0.0, 0.0, 0.0]}, "scale": 1.0, "controller": {"class_type": "isaaclab.controllers.differential_ik:DifferentialIKController", "command_type": "pose", "use_relative_mode": false, "ik_method": "dls", "ik_params": {"lambda_val": 0.01}}}, "finger_joint": {"class_type": "robolab.robots.droid:BinaryJointPositionZeroToOneAction", "asset_name": "robot", "debug_vis": false, "clip": null, "joint_names": ["finger_joint"], "open_command_expr": {"finger_joint": 0.0}, "close_command_expr": {"finger_joint": 0.7853981633974483}}}, "events": {"reset": {"func": "isaaclab.envs.mdp.events:reset_scene_to_default", "params": {}, "mode": "reset", "interval_range_s": null, "is_global_time": false, "min_step_count_between_reset": 0}}, "rerender_on_reset": true, "num_rerenders_on_reset": 1, "wait_for_textures": true, "xr": null, "teleop_devices": {"devices": {}}, "export_io_descriptors": false, "log_dir": null, "is_finite_horizon": false, "episode_length_s": 50, "rewards": {}, "terminations": {"time_out": {"func": "isaaclab.envs.mdp.terminations:time_out", "params": {}, "time_out": true}, "success": {"func": "robolab.core.task.conditionals:object_in_container", "params": {"object": "banana", "container": "bowl", "gripper_name": "gripper", "tolerance": 0.0, "require_contact_with": true, "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"banana": [["functools.partial(<function object_grabbed at 0x7fedf4d0be20>, object='banana')", 0.0], ["functools.partial(<function object_in_container at 0x7fedf5dabb00>, object='banana', container='bowl', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BananaInBowlTask", "num_envs": 1, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Pick up the banana and place it in the bowl", "contact_object_list": ["banana", "bowl", "table"], "_instruction_variants": {"default": "Pick up the banana and place it in the bowl", "vague": "Put the fruit in the bowl", "specific": "Grasp the yellow banana and place it inside the red bowl on the table"}, "policy": "harness", "renderer": "realtime"}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_0_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 458, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 445, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 445, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 445, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 458, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 458, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_1_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 1, "success": true, "final_step": 408, "events": [{"step": 254, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 408, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_2_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 2, "success": true, "final_step": 385, "events": [{"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 384, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 384, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_3_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 3, "success": true, "final_step": 671, "events": [{"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 402, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 671, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 671, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_4_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 4, "success": true, "final_step": 366, "events": [{"step": 239, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 366, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 366, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_5_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 5, "success": true, "final_step": 726, "events": [{"step": 321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 574, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 592, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 594, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 595, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 595, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 642, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 644, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 644, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 644, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 726, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 726, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_6_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 6, "success": true, "final_step": 443, "events": [{"step": 268, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 299, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 438, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 438, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 438, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 443, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 1.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 443, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_7_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 7, "success": true, "final_step": 381, "events": [{"step": 172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bowl' (target objects: ['banana'])", "score": 0.0}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 369, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 374, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bowl'", "score": 0.0}, {"step": 381, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 381, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_8_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 8, "success": true, "final_step": 561, "events": [{"step": 262, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 282, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 353, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 376, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 414, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 561, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/log_9_env0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 9, "success": true, "final_step": 501, "events": [{"step": 227, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 255, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 255, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 326, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 351, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 356, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 501, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 501, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_0.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0d570182b30c75ebc4f58b0eaff1e9eedc0251551786684f4eb612de09fc991
3
+ size 296564
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_1.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a5b4202c996c7719969a8f4a403ba62f01a76d07f81239ae6007c6da1ecd09d0
3
+ size 280700
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_2.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a1620eb0b7d0326d668164fef3e8d7d5146b0151569530818923c20468c80db
3
+ size 273056
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_3.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0bc7db6237142719533c3c7b049b305cc5db815e739ac107744445a92b294347
3
+ size 353283
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_4.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eddaa75319458ca4bdee8e2eb6665e8b45a6301a4dfcd9fb1bdc79e40f7c648f
3
+ size 266607
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_5.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb15a0cc5873e3d34a68b85b7fb378ee30ebb7de36d541fea05f62d9f50e6f7d
3
+ size 377489
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_6.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:763a87163ecdf7e18cf9ca3dba61f88ac5ef24bb60358d742c98759564bdb861
3
+ size 289129
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_7.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a60f35cb857650c9cfc4b9147db73bf2be22ae3d54397837ec51dc50e4866823
3
+ size 272534
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_8.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7f88a002c7ecb2f1169b0d27154c926ac0be77423465d16df647e3263b4028a
3
+ size 328108
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaInBowlTask/run_9.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:027377bd63cab77f8c1165ad2e4c5e32d696afb73769deb72365d5e9f151e0a4
3
+ size 307240
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_0.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81480086119e6b9226c311b2362e3510b31fb11da8cf51e011d0905c9bd6f333
3
+ size 10049362
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_0_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:adc1c282704fce2b6da54d05851d6b12e408a3308aefd1b005a17f917c9bdd46
3
+ size 1724413
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_1.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ed51ce1df70d87917761f8af22701de9c39a5657945ba2868861791859b268c
3
+ size 10774200
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_1_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75a68a0016c989c9336342707a246b80fb9988cc34f4b06e82dd7a632b6deee7
3
+ size 1957703
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_2.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a4d4c4bb85ec1a27bbf2eeb3d28b1f3884806e1a226aa2237f912948615b1ae
3
+ size 13926283
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_2_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:767bec834b87cd4042b98e5092eae30b8bbbf970e85ee301eef0997e28ff1e40
3
+ size 2593962
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_3.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dcaa5b3d575aeb7bf1bc8b76313ca5a4a54b1300b3f3b4f066b661c4c4441f6a
3
+ size 13705683
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_3_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:953eb99efccc8dfe204797d5cda05744bed220e2a032dd90c973cfbba3cd4f9e
3
+ size 2490977
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_4.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b6dbbf6a60bd7ff512d6b0ab2af0728ec432f6b02884ff7a0b1488fa8bb6b10b
3
+ size 9695774
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_4_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03384a67b5c58573fb8bdbddf4ee3a6384af370ac508cc911bd9cd5dd737ffe6
3
+ size 1801721
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_5.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07d13dd8d6b590291ca9f1430a7d72977f98b73f616074395d57b15be686cd15
3
+ size 9798970
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_5_viewport.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eeb505dc26b71cd1a12e2bc5cf0e9117ef9a17a2832bf08bdae5294e643c4c9b
3
+ size 1743002
harness_robolab_full_task/robolab_full_task_1x_empirical_study/2026-10-01_05-52-20_harness/BananaOnPlateTask/Pick_up_the_banana_and_put_it_on_the_plate_6.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d84d432bdd31eda5aa6332e3e51c8e70635eaf1adb778224950cd877e136292
3
+ size 9741190